关键词: nonholonomic constraint, Vacco dynamics equation, integration method

Abstract: This paper presents the integration methods for vacco dynmmies equations of nonlinear nonholononic system,First.vacco dynamies equations are written in the canonical form and the field form.second the gradient methods the single-componentmethods and the field method are used to integrate the dynamics equations of the corresponding holonomic system respectively.And considering the restriction of nonholonomic construint to the initial conditions the solutions of Vacco dynamics cquations of nonlinear nonholonomic system are obtained.

Key words: nonholonomic constraint, Vacco dynamics equation, integration method