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One of the key questions in design of the helicopter control system is attitude control. Furthermore, it has non-linear and multi-variable coupling characteristics and so on. Therefore, it's a big challenge with the real-time and reliable attitude control. The three degree-of-freedom helicopter model was used as the controlled object. Through the research of modeling, controller designing and simulating, the application of control theory and technology can be made full use of in the complicated system. PID was introduced as the traditional method. Specific to the defects of PID, the fuzzy control algorithm was used to conquer the defects of pure PID controller. Based on the respective advantage of PID and fuzzy controller, PID and fuzzy controller were combined together as one controller which fit together with switch and weighted value. It optimized the flying gesture of the helicopter. The real-time simulation results proved the feasibility and the validity of the designed method.