In order to solve the problem of complicated disturbance during low-altitude flight, a dual-loop anti-disturbance controller in hover/low speed mode is designed. Taking the composite coaxial twin-rotor high-speed helicopter as the research object, a full-scale non-linear flight dynamics model is constructed. Based on the time-scale differences of various state quantities of the high-speed helicopter, combined with the characteristics of H? loop shaping control, robust control is used to suppress interference, and optimal control is used to complete attitude-position dual closed-loop controller design, and compared with the classic PID control simulation verification. The simulation results show that the controller has a good suppression effect on the disturbance of the wind field and can achieve stable control.