The invention relates to a three-degree-of-freedom helicopter control method based on an LPV system. Through a three-degree-of-freedom helicopter system composition structure, an equation of motion in three-degree-of-freedom directions is established, then a variable parameter, a state vector, and system input and output are selected according to an LPV system concept to establish a three-degree-of-freedom helicopter LPV model, and an LPV mathematical model is translated into a Matlab language. According to a three-degree-of-freedom helicopter model, a system feedback loop is designed, a weighting function is selected, and a controller is generated. A controller module diagram is set up after controller parameters are obtained, a controlled system module is established, different inputs are given, observation output is selected, and then semi-physical simulation of a three-degree-of-freedom helicopter is performed. Hardware control gives a tracking signal through Matlab, after control voltage is obtained through calculation of a computer, in linkage with official software QuaRC, data are written in a data acquisition card, and then a control signal flows through a power amplifier to directly control a helicopter body.