Focuses on control disadvantages of microminiature multi-rotor aircraft, establish the nonlinear modeling of aircraft. First, blade element theory is applied to rotor blades modeling, based on which the periodic flapping problem is also analyzed. Meanwhile, modify the load feature of rotor. Then the model of small multi-rotor aircraft is rebuilt according to the dynamic characteristics of rigid airframe, hub, blade and armature. Finally, Matlab/Simulink simulation and ground stand testing are carried out to verify the control performance. Simulation results show that the model is reasonable and feasible and meet the expected control requirements.