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Quad-rotor UAV is a kind of VTOL unmanned aircraft with excellent performance. It can complete the tasks of hovering, low-speed flight, vertical takeoff and landing, which has great value in military and civilian aspects. In view of the quad-rotor UAV control system design problem, the flight principle of quad-rotor UAV is analyzed firstly. Then dynamics model and kinematics model is established, and the quad -rotor UAV control system is designed based on PID control. The control system adopts four-channel, multi-closed-loop control structure, including attitude control and trajectory control of UAV. The quad-rotor UAV control system simulation implementation and experimental research is carried in MATLAB. The simulation results show that the control system designed in this paper can effectively achieve the attitude control and trajectory control of the quad-rotor UAV, with good control accuracy and response speed.