中文摘要：

Vakonomlc模型是变分公理化模型．应用一般力学的广义变分原理，建立了一个重要的数学关系，说明了广义速度和广义坐标之间的微分关系对非完整系统也成立，进而消除了原Vakonomic模型中的不合理部分，建立了新型Vakonomic模型．应用这类模型可以导出非完整系统的合理的动力学方程，进而求得问题的合理解答．该类解答与一些知名学者得到的合理解答相吻合．

英文摘要：

A Vakonomic model is a kind of variational axiomatic model. By using the generalized variational principles of general mechanics, an important mathematical relationship is established which shows that the differential relationship between generalized velocity and generalized coordinates also holds true for a nonholonomic system, hence a new type of Vakonomic model can be established by eliminating the non-rational part of the original Vakonomic model. Use of the new Vakonomic model allows the deduction of the rational dynamical equation for the nonholonomie system, furthermore the rational solution to the problem can be attained. Results obtained from this model agree well with those presented by other distinguished scholars.