Powered Parafoil Unmanned Aerial Vehicle(PPUAV), which is suitable for large-area and long-time surveillance and airdrop missions, is a type of innovative UAV. It consists of parafoil canopy, payload and suspension lines, and has the advantages of simple structure, low cost and high load capacity. However, PPUAV has the problems of apparent mass and flexible connection, which makes it hard to build an accurate model for controller design in practical applications. This paper develops an applicable method of modeling to capture the main characteristics of PPUAV, and the proposed model is validated by actual flight test. An adapted PID controller and a guidance algorithm are also proposed based on the model. The simulations show the effectiveness of the control method for applications of PPUAV.