中文摘要：

针对非完整系统的Boltzmann-Hamel方程，当其满足一定条件时，可以进行广义Birkhoff化．构造生成函数，利用当前比较优越的非自治Birkhoff广义辛算法对其进行数值仿真．仿真结果和传统的Runge—Kutta算法结果相比较，非自治Birkhoff广义辛算法在长期跟踪后更加准确．

英文摘要：

For a Boltzmann-Hamel equation of nonholonomic mechanical system, when it meets certain conditions, the Boltzmann-Hamel equation can be transformed into a Birkhoffian system. By constructing the generating function, the system is investigated numerically using the generalized symplectic geometric algorithm of the nonautonomous Birkhoffian system. Compared with the above-mentioned algorithm with the classical Runge-Kutta method, Birkhoffian symplectic scheme is very accurate in a long-term tracing.