Aiming at the attitude control problem of quadrotor UAV, a human simulating intelligent PID control method was proposed, and the attitude control system of UAV was designed based on this method.The mathematical model of UAV was established through theoretical analysis of flight principle and dynamics of UAV.Based on conventional PID control algorithm and the human simulating intelligent control rules, a new human simulating intelligent PID control method was fused. This method was applied to the longitudinal control channel of UAV, and the PID control parameters were adjusted online in real time according to the dynamic characteristics of the vertical motion of UAV.The simulation was carried out by MATLAB software. The simulation results show that the human simulating intelligent PID control method is superior to conventional PID control method, which can satisfy the good dynamic characteristics and improve the stability and robustness of the system.