How can we endear Salah to our children?

Your child needs your affection, but if you beat him and call him names, he will not offer Salah. He should love you, because if he does, he will imitate you and offer Salah. Hence, your heroism lies in being loved and respected.
Every father is respected in our Islamic culture, but being loved needs extra step. If your children love you, they will offer Salah when you are absent, but in case they do not love you, they will offer Salah only when you are with them. Some daughters wear Hijab only in the presence of their parents, but they remove it when they are away from them. Your heroism lies in convincing your children rather than suppressing them.