Hamiltonian simulation is one of the most anticipated applications of quantum computing. Quantum circuit depth for implementing Hamiltonian simulation is commonly time dependent using Trotter-Suzuki product formulas so that long time quantum dynamic simulations (QDSs) become impratical for near-term quantum processors. Hamiltonian simulation based on Cartan decomposition (CD) provides an appealing scheme for QDSs with fixed-depth circuits, while it is limited to a time-independent Hamiltonian. In this work, we generalize this CD-based Hamiltonian simulation algorithm for studying time-dependent systems by combining it with variational quantum algorithms. The time-dependent and time-independent parts of the Hamiltonian are treated by using variational and CD-based Hamiltonian simulation algorithms, respectively. As such, this hybrid Hamiltonian simulation requires only fixed-depth quantum circuits to handle time-dependent cases while maintaining a high accuracy. We apply this new algorithm to study the response of spin and molecular systems to δ-kick electric fields and obtain accurate spectra for these excitation processes.