The embodiment of the invention provides a control method and device based on an enzyme number value structure and a readable storage medium and belongs to the technical field of unmanned aerial vehicles. The method comprises the steps that current attitude data in multiple pieces of current attitude data and target attitude data corresponding to the current attitude data are operated through a corresponding first-level preset enzyme number value membrane operation model to obtain corresponding attitude PID control data, multiple pieces of attitude PID control data are obtained in parallel, wherein the target attitude data is used for representing target flight attitudes needed to reach by an unmanned aerial vehicle through adjustment; the multiple pieces of attitude PID control data is operated through a second-level preset enzyme number value membrane operation model, current PWM control signals of multiple motors are parallelly obtained to make the unmanned aerial vehicle adjust thecurrent flight attitude to a target flight attitude according to the current PWM control signals of the motors. Therefore, data processing time is shortened through parallel data operation, and thusa control period of the unmanned aerial vehicle is shortened.