中文摘要：

针对目前自适应动态规划的研究中大多采用Matlab语言编程,存在代码执行效率低、使用不灵活等缺点,采用面向对象的编程技术和C＋＋语言设计了一种基于双启发式动态规划算法（DHP）和执行依赖双启发式动态规划（ADDHP）算法的优化控制开发工具,介绍了开发工具的设计开发思路、工作流程、功能特点、主要界面和使用方法。将该工具用于三容液位实验装置的实时仿真控制,实验结果表明,该开发工具具有使用灵活、训练速度快、执行效率高等优点。

英文摘要：

Matlab language is widely adopted in the current research on adaptive dynamic programming（ADP）.Aimed at the low exe-cution efficient and inflexibility in the programming,an optimal control development tools for dual heuristic dynamic programming（DHP） methods and action-depended dual heuristic dynamic programming（ADDHP） methods is designed with object-oriented programming technology in C＋＋ language,including its idea for design and development,workflow,function characteristics,main interface and using method.Finally,the real-time test is finished on the triple-tanks liquid level experimental apparatus.The results show that this software has the advantages in flexibility,fast training speed and high execution efficient.