Aiming at the problem of low speed and poor maneuverability of the traditional autorotation rotorcraft, designed a new type of vector thrust autorotation rotorcraft. This paper introduces the main structure of the new type of autorotation rotorcraft. The principle of the rotor paddle and the vector thrust device are elaborated and modeled, and the kinematics and dynamics model of the model are obtained. Based on the hybrid control idea, We proposed a double loop hybrid control method and carried out the numerical simulation. Experimental results show: This kind of model has better flight stability, better response speed and performance, and also has certain robustness.