This paper focuses on quadcopter UAVs and presents a study involving their kinematic modeling and control. We established the dynamic model of quadcopters, applied PD controller independently to control attitude and velocity of quadcopters. Numerical simulations are conducted to validate the proposed control approach. Finally, we developed a visual simulation program for with dynamic model and Unreal Engine, to provide a comprehensive platform for further research and development. Based on a visual simulator, we can develop and optimize flight algorithms including trajectory tracking, obstacle avoidance, and formation algorithms.