A　biomimetic　learning　model　is　proposed　based　on　the　operant　conditioning　learning　automatic(OCLA)　within　the　structure　of　learning　automatic　theory　for　the　balance　control　of　a　two-wheeled　robot.　A　cognitive　learning　unit　and　a　tropism　unit　are　introduced　in　this　model,　and　they　are　used　to　evaluate　the　operant　behavior　learning　and　to　direct　the　evolution　of　the　system　respectively.　Finally,　the　simulation　experiments　on　the　two-wheeled　robot　show　the　feasibility　and　effectiveness　of　the　proposed　algorithm,　and　the　robot　learns　the　ability　of　balance　control　and　has　high　self-adaptive　ability.