中文摘要：

以前轮转向、后轮驱动的四轮小车为研究对象,采用机理分析和实验测试相结合的方法,建立了该小车在平面上运动的双输入双输出模型.首先通过机理分析得到小车的模型结构,其次通过实验测试获取不同情况下小车运行数据,运用最小二乘法辨识模型参数.模型仿真结果与实际小车行驶情况对比,验证了建模方法的有效性和可靠性.

英文摘要：

A control-oriented modeling approach of a four-wheel electric robot is proposed.The mechanism analysis method and experimental modeling method are employed to establish a two-input two-output mathematical model for a robot.Firstly,the model structure is obtained by using mechanism analysis method.Then,the data of various scenarios for the step responses of the system are measured under different input signals.By using the least squares method employed,the parameters of the model are identified.With the simulation（using the identified model） and the actual experimental data（using the robot running with the same setting） compared,the feasibility and reliability of the proposed modeling approach are verified.