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With the widespread popularity of UAVs and the further research of autonomous control technology, the modern war is inseparable from the figure of UAV. While UAVs have their special advantages, more maintenance is needed to ensure the safety of UAVs in executing tasks. In this paper, the self balance theory of biological thought is introduced to design the fault tolerant control and fault diagnosis system of unmanned aerial vehicle. By designing "balance point", the safety state of unmanned aerial vehicle is determined, and a self balance theory model based on the original internal drive and secondary internal drive is set up, and fault tolerance control and fault diagnosis is applied not only to the fault precondition. In terms of measurement and health management, it is more innovative to propose fault tolerance control and fault diagnosis as a criterion to decide whether a UAV can be used as a suicide weapon when attacking. The simulation test shows that the UAV can judge whether it can be returned to sail or as a suicidal weapon when crossing the enemy occupied area, and the effectiveness of the algorithm is proved.