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When PID controller is adopted to control quadrotor attitude angle,one of difficult problems is how to self-tune parameters of controller with the variance of circumstance,which affects the stability of quadrotor. An improved single neuron PID controller is proposed. The algorithm improved K value formula of single neuron PID control to improve the Kp,Ki,Kd learning rate,which increase the response speed of the system; by increasing the overshoot punitive measures,through appropriate zoom in or out overshoot,overshoot can be minimized. By comparing with standard PID controller and standard quadratic single neuron PID algorithm and simulating,the result shows that the algorithm has a strong self-tuning,quick response,strong robustness and a good stability. 