Abstract: Hardware and software design for selfpropelled model control system is introduced, of which upper and lower computers are used on the shore and model; communication is established through wireless local area network (LAN); servos and actuators are driven by the sophisticated programmable components；a variety of sensors and alarm equipment are equipped on board; the software is written with Matlab based on hybrid programming. The result shows that the selfpropelled model designed can reduce the workload involved in development of both hardware and software and improve the reliability of the system. Openloop test result shows that the system is versatile, highly extensible and easy to be manipulated, reflecting the maneuverability of the new concept submerging and surfacing platform.