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Tailless Flapping Wing Robot (TFWR) was extensively used in battlefield reconnaissance and flight patrols recently years. Widely using of TFWR in different aspects made them become a hot research topic in the field of drones. There exist some problems in traditional bionic TFWR modeling process such as model is too complicate and calculate is too difficult. Therefore, it is necessary to do some researches on flight control of such drones. The paper has done some research on the dynamic modeling process of TFWR based on the blade element method, the quasi-steady-state assumption model and the rigid body dynamics modeling method. According to the force analysis of the wing motion, the dynamic model of the wing is obtained. The flight model of TFWR is established by a rigid body dynamics method. The PID control model is used to control the longitudinal dynamic model of the TFWR, and the step input mode of pitch angle ± 15 degree and ± 30 degree is adopted. The experimental results shows that the overshoot of the system is 15.13% and 16.23% respectively, and the adjustment time is 0.5s and 1s respectively. The steady-state error meets the requirements of the experiment.