Polyaniline (PANI) nanofibers with improved properties were prepared by high gravity chemical oxidative polymerization in a rotating packed bed with the assistance of p-aminodiphenylamine (AD) and p-phenylenediamine (AP). The effects of reactor type, additive dosage, reaction temperature, and high-gravity level on the properties of products were investigated in detail. Three conclusions were made: (1) a small amount of additive can significantly improve some properties of the nanofibers such as uniformity, specific surface area, and specific capacitance; (2) in order to obtain high-quality nanofibers, the high-gravity level should coordinate with the reaction rate; (3) the molecular weight and conductivity of PANI decrease with the increase of additive dosage. The products have larger specific surface areas of up to 73.9 and 68.4 m²/g and consequently improved specific capacitance of up to 527.5 and 552 F/g for the PANI nanofibers prepared with AD and AP, respectively. However, the specific surface area and specific capacitance of pure PANI are only 49.1 m²/g and 333.3 F/g, respectively. This research provides a simple, reliable, and scalable method to produce PANI nanofibers of high performances.