Abstract: The acoustic radiation force generated by ultrasonic wave can control small objects. In view of the problem of micro particle manipulation in liquid environment, based on the theory of acoustic radiation force in viscous medium, an underwater particles control model driven by a biconcave spherical focusing ultrasonic transducer is established. The acoustic field, acoustic flow field and the dynamic process of particles control of the model are simulated by COMSOL software. Finally, the simulation results are verified by underwater particles manipulation experiments. It is found that the particles are affected by the combined action of acoustic radiation force and acoustic drag force during the underwater control process. The local standing wave field formed by acoustic interference mainly relies on the acoustic radiation force to agglomerate the particles at the nodal position, however, with the decrease of particle size, particles cannot continue to be bounded, and the particle control will change from relying on acoustic radiation force to acoustic drag force. In addition, the increase of acoustic field intensity will enhance the anti-disturbance ability of particles control.