In order to meet the growing demand for curtain wall cleaning UAVs in the market and improve the shortcomings of current manual cleaning and robot and UAV cleaning design. In this paper, a new type of curtain wall cleaning UAV is designed and developed. Firstly, the system structure of curtain wall cleaning UAV is designed, and the dynamic and kinematic models of curtain wall cleaning UAV are established. The cascade PID control algorithm is designed, and the outer position loop and inner attitude loop are used to control the curtain wall cleaning UAV. Finally, the control algorithm is verified by simulation experiment with MATLAB / Simulink. The simulation curve shows that the cascade PID control algorithm can meet the requirements of fast response speed and high stability of UAV, and has good anti-interference ability.