Abstract: This paper mainly discusses the design and realization of the test model for a bionic underwater vehicle,which is propelled by undulations of a long flexible fin.Firstly,design principles and architecture of the test model are briefly introduced.Then we focus on the design method,the components and the operational procedure of the bionic long flexible fin,the control and communication module,as well as the motion control subsystem.Finally,some conclusions are drawn from the test data and experimental results of the test model,and the necessities to improvments and further research are also proposed.Realization of this test model verifies that propulsion by undulations of a long flexible fin may be effectively applied to the propulsion control system of underwater vehicles from the view of principles and technologies.