The Lagranges equation is used and a nonlinear 3 freedom degrees dynamics model for four-wheel-steering vehicle is built.
利用拉格朗日方程，建立了四轮转向车辆的非线性三自由度动力学模型。
The kinetic model transformation theorem in the change kinematics model is put forward and deduced based on the Lagranges kinetic equation.
本文基于拉格朗日动力学方程推导并提出了变运动学模型下动力学模型变换定理。
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