Abstract: Due to the low flying altitude of plant protection drone, they are easily affected by the environmental wind field in actual flight. According to the Newton-Euler equation, the dynamic model of the quadrotor aircraft in the wind environment is established, and the controller based on the inner and outer loop PID control strategy is designed. Among them, the attitude angle controller adopts a quaternion-based feedback controller, and the Lyapunov stability criterion is used to verify its global asymptotic stability; the attitude angle rate controller adopts a PID controller; the position controller adopts a velocity PID controller and position P controller. Through the wind field simulation experiment and actual flight experiment in Gazebo, the parameters of the designed quadrotor aircraft control system are debugged and verified, and the control performance of the designed quadrotor aircraft control system under the action of natural wind field is proved. The results show that the designed controller has the ability to control the stable flight of the quadrotor in the wind field environment.