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This paper discusses the improvement of the simulation model and the development of the new mechanism for flight control of a flying robot with the cyclogyro wing. In past study, we focused high maneuverability of the flying robots with the cyclogyro wing, whose rotor had rotation along horizontal axis, and developed some prototypes. The simulation model was also constructed based on the pressure of air. However the Reynolds number was not considered in the constructed simulation model. As a results, the model's accuracy was not enough. On the other hand, the control mechanism for the flight of cyclogyro wing is not yet developed. In this paper, the simulation model is improved by considering the cyclogyro's Reynolds number. The utility of the improved simulation model is verified by comparing simulation results with experimental results. Moreover the new mechanism is suggested for the flight control by controlling the generated force direction. The prototype of the new mechanism is developed and validated by the experiment.