Abstract: To address the pain points of abstract theories and insufficient cultivation of students' practical abilities in traditional system modeling methods courses, this study explores a new teaching model that integrates virtual simulation technology into case teaching. This model abandons the traditional paradigm centered on knowledge transmission and instead adopts the outcome-based education concept, aiming to cultivate students' higher-order abilities in solving complex control engineering problems as the ultimate outcome. First, a teaching framework integrating "theorymodel-simulation-analysis" is proposed for the teaching case represented by a four-wheel independent drive vehicle system. Then, simulation results under given operating conditions are achieved using MATLAB/Simulink and CarSim software tools. Finally, teaching practice demonstrates that this model can effectively visualize and dynamize abstract theories, significantly enhancing students' classroom participation, systematic thinking ability, and innovative practical skills. This study provides a valuable reference and an implementable path for the practical teaching reform of engineering courses.

Key words: system modeling; virtual simulation; case teaching; four-wheel independent drive vehicle; MATLAB/Simulink; CarSim

摘要： 为克服传统系统建模方法课程中理论抽象、学生实践能力培养不足的痛点，研究探讨 了将虚拟仿真技术融入案例教学的新型教学模式。该模式摒弃以知识传授为中心的旧范式， 转而以成果导向教育理念为指导，以培养学生解决复杂控制工程问题的高阶能力为最终成果。 首先，针对四轮独立驱动车辆系统为代表的教学案例，提出了一个“理论-模型-仿真-分析” 一体化的教学框架。然后，基于 MATLAB/Simulink 和 CarSim 软件工具，实现了给定工况下的 仿真结果。最后，教学实践表明，该模式能有效将抽象理论可视化、动态化，显著增强了学 生的课堂参与度、系统思维能力和创新实践水平。该研究为工科类专业课程的实践教学改革 提供了有益参考和可实施的路径。

关键词: 系统建模；虚拟仿真；案例教学；四轮独立驱动车辆；MATLAB/Simulink；CarSim