Soldagem

UNIVERSIDADE FEDERAL DE SANTA CATARINA
CENTRO TECNOLÓGICO
CAMPUS UNIVERSITÁRIO - TRINDADE - C.P. 476
CEP. 88.040-900 - FLORIANÓPOLIS - SC.
FONES: (048) 331-9225 / 331-9721 - FAX: (048) 234-1519
Uma introdução à modelagem quase-estática de

veículos automotores de rodas.
Publicação interna do GRANTE - Departamento de Engenharia Mecânica

da UFSC
Autores.
Lauro Cesar Nicolazzi lauro@grante.ufsc.br
Edison da Rosa darosa@emc.ufsc.br
Longuinho da Costa Machado Leal
Florianópolis, agosto de 2001
Bibliografia
Wong, J.Y.Theory of ground vehicles. USA: John Wiley&Sons.
Reimpell, J. Stoll, H. The automotive chassis: Engineering principles. UK: SAE. 1996
Reimpell J. Fahrwerk Technik. Germany: Vogel Verlag. 1978.
Gillespie T. D. Fundamentals of Vehicle Dynamics. USA: SAE.
Automotive Handbook. Germany: Robert Bosch GmbH, 1996
Campbell, C. The sports car. Its design and performance. UK: Chapman and Hall Ltda.1969.
Setright, L.J.K. Automobile tyres. UK: Chapman and Hall Ltda.1972.

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fdoru jhudgr lqwhuqdphqwh1 D fdujd pä{lpd txh xp gdgr sqhx srgh vxsruwdu hvwä olplwdgd
shod suhvvær txh r sqhx dgplwh/ vhqgr txh hvwd suhvvær qær ghyh vhu h{fhglgd vre ulvfr gh
duuhehqwdu d fdufdêd gr sqhx1 Sdud srvvlelolwdu xpd pdlru suhvvær ì qhfhvväulr xp sqhx
frp pdlru qýphur gh orqdv/ gh prgr d gdu pdlru uhvlvwíqfld sdud d fdufdêd1
Xpd fdufdêd frp pdlru qýphur gh orqdv qær lpsolfd qhfhvvduldphqwh qxpd pdlru fd0
sdflgdgh gh fdujd/ frpr ì prvwudgr d vhjxlu1 Xp sqhx frp A orqdv h rxwur frp 5 orqdv
srvvxhp d phvpd fdsdflgdgh gh fdujd txdqgr lq dgrv qd phvpd suhvvær/ dshqdv txh r
sqhx frp 5 orqdv dgplwh xpd suhvvær vxshulru frp uhodêær dr gh A orqdv/ mä txh fd pdlv
uðjlgr shor hihlwr gd pdlru suhvvær h/ vh ghirupdqgr phqrv/ dfduuhwd xpd jhudêær phqru gh
fdoru1
Srgh0vh dupdu txh d fdsdflgdgh gh fdujd fd lqgluhwdphqwh ghqlgd rx olplwdgd shor
qýphur gh orqdv1 Ghyh vhu vdolhqwdgr txh hvwh ì xp qýphur qrplqdo gh orqdv/ qær qhfhv0
vduldphqwh r qýphur gh orqdv xvdgr qd frqvwuxêær gh fdufdêd1 Hvwd fdsdflgdgh gh fdujd ì
ghqlgd shor qýphur gh orqdv/ So| Udwlqj rx hqwær sru xp fögljr gh ohwudv gh dfrugr frp
d Wdehod 41<1
Wdehod 41<= Fdsdflgdgh gh fdujd gh sqhxv1

SU A 5 0 QB Q QA Q5 Q0 B A
FF D E F G H I J K M O P Q
R e s is tên c ia
R ela tiv a
[% ] 1 00
80
60
40
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0 1 00 2 00 3 00 T [ºC ]
Iljxud 415:= Uhvlvwíqfld gd eruudfkd hp ixqêær gd whpshudwxud1
Rqgh=
SU 0 Sod| Udwlqj rx fdsdflgdgh gh orqdv1
FF 0 Fdsdflgdgh gh fdujd1
Krmh kä xpd sursrvwd gh hvshflfdêær gd fdsdflgdgh gh fdujd grv sqhxv gh fdplrqhwhv
h dxwrpöyhlv gd DEQW/ d txdo/ sdud dojxqv sqhxv/ hvwä prvwudgd r qd Wdehod 41431
41915 Sqhxv gh yhðfxorv irud gh hvwudgd

Sdud rv sqhxv gh pätxlqdv h htxlsdphqwrv/ txh wudedokdp irud gh hvwudgd/ h{lvwh xpd
judqgh lq xíqfld gd yhorflgdgh gh ghvorfdphqwr gr yhðfxor vreuh d fdsdflgdgh gh fdujd gr
sqhx / srlv ghylgr dr wdpdqkr gr sqhx ì qhfhvväulr xpd edqgd gh urgdjhp frp judqgh
hvshvvxud r txh rfdvlrqd xpd pdlru uhvlvwíqfld ã wurfd gh fdoru h frqvhtÿhqwhphqwh xp pdlru
dtxhflphqwr1 Doìp ghvwh hihlwr d yhorflgdgh txh d rshudêær gh fduuhjdphqwr ì uhdol}dgd ì
lpsruwdqwh/ srlv xpd yhorflgdgh gh fduuhjdphqwr judqgh lpsolfd hp xp idwru gh lpsdfwr
hohydgr frp r txdo d fdsdflgdgh gr sqhx srgh vhu h{fhglgd rfdvlrqdqgr d vxd ghvwuxlêær1
Sdud txh hvwhv hihlwrv srvvdp vhu frqvlghudgrv ì ghqlgd xpd fdsdflgdgh gh fdujd hvwäwlfd/
e / lpsruwdqwh qdv rshudêøhv gh fdujd h ghvfdujd/ vhqgr dgrwdgr xp idwru gh fruuhêær
ghylgr d yhorflgdgh/ g / sdud fkhjdu ã fdsdflgdgh gh fdujd glqåplfd/ _ 1 D fdsdflgdgh
gh fdujd hvwäwlfd ghshqgh gdv glphqvøhv grv sqhxv ehp frpr gd suhvvær d txh r sqhx
hvwd lq dgr1 D pä{lpd fdsdflgdgh gh fdujd fd olplwdgd shod pdlru suhvvær txh r sqhx
dgplwh1 Hvwd suhvvær pä{lpd ghshqgh gd uhvlvwíqfld gd fdufdêd/ rx vhmd/ gr qýphur gh orqdv
qrplqdo1 D fdsdflgdgh gh fdujd hvwäwlfd/ sdud r yhðfxor lpöyho/ srgh vhu hvwlpdgd frp erd
dsur{lpdêær sru=
Fdsðwxor 4 0 Sqhxv #
5 3 & &(*= +Dvvrfldêær

Eudvlohlud gh Sqhxv h Durv,1
Ðqglfh Fdujd ^&}s ` ^ ` Ðqglfh Fdujd ^&}s ` ^ `
Sf 2Df 2eDf HH DSf Debe
S 2D. 2D2 Hb DHf DSbf
S2 2SD 2Sff bf Sff DHHS
S 2.2 2SSH b SD Sf
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SD 2bf 2HeD b SDf S.S
SS ff 2be be S.f SD.
S. f. f2 bD Sbf S.Sb
SH D fbf bS .f SbSD
Sb 2D HH b. .f .S
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. eD He bb ..D .Sf
.2 DD eH2 ff Hff .HeH
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.. e2 efe2 fD b2D bf.e
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.b e. e2H. f. b.D bDSD
Hf eDf eee fH fff bHf
H eS2 eD2 fb ff ffe
H2 e.D eSSf f fSf fbb
H eH. e... fbf fSb
He Dff ebfD 2 2f fbH.
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41916 Fdsdflgdgh gh fdujd gh sqhxv djuðfrodv

Hvwhv sqhxv vær xwlol}dgrv frp suhvvøhv uhodwlydphqwh edl{dv/ gh prgr d shuplwlu xp
frqwdwr vxflhqwhphqwh judqgh frp r vror/ jhudophqwh pdflr1 D idl{d xvxdo gd suhvvær gh
lq djhp hvwä prvwudgd qd Wdehod 41441
D fdsdflgdgh gh fdujd glqåplfd/ _ / sdud yhorflgdghv pä{lpdv gh 2 &6* h suhvvær
gh 2f ,Ks*62 E ' 2&6*/ srgh vhu hvwlpdgd shod h{suhvvær txh vhjxh =
_ ' 2b (c +4149,

Vhqgr txh d glphqvær gd odujxud h glåphwur h{whuqr/ h ( uhvshfwlydphqwh/ sdud hqwudu
qd h{suhvvær dflpd/ ì hp phwurv h _ hp & 1 Sdud rxwudv suhvvøhv whp0vh=
-S ' -fcDb +414:,

Rqgh - h -S vær uhodêøhv gh suhvvøhv h gh fdsdflgdgh gh fdujd/ uhvshfwlydphqwh1
41: Ghvljqdêær gh sqhxv gh dxwrpöyhlv

D ghvljqdêær gh xp sqhx lqirupd vreuh r vhx wdpdqkr/ fdsdflgdgh gh fdujd/ olplwh
gh yhorflgdgh h irupd frqvwuxwlyd gd vxd fdufdêd1 D vhjxlu vhuä dsuhvhqwdgd d irupd gh
hvshflfdêær ghvwdv judqgh}dv/ sdud sqhxv frphufldlv1
41:14 Wdpdqkr
D ghvljqdêær ghyh vhu wrpdgd frpr ghqlêær gdv glphqvøhv qrplqdlv/ qær frpr phglgd
h{dwd gr sqhx1 D ghvljqdêær gh wdpdqkr ì frpsrvwd gh grlv juxsrv gh ydoruhv1 R sulphlur
juxsr fruuhvsrqgh ã odujxud qrplqdo gr sqhx rx ã odujxud qrplqdo frpsohphqwdgd shod
ud}ær shufhqwxdo hqwuh d dowxud gd vhêær h d odujxud1 R vhjxqgr juxsr uhsuhvhqwd r wdpdqkr
gr glåphwur lqwhuqr/ rx r glåphwur gr dur gh prqwdjhp1
Fdsðwxor 4 0 Sqhxv "#
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Qr fdvr gh sqhxv sdud dxwrpöyhlv whp0vh yäuldv vìulhv/ rqgh dv glphqvøhv gd vhêær
vær sursruflrqdlv h d uhodêær M* ì dsur{lpdgdphqwh frqvwdqwh1 Ghqwur gh fdgd vìulh d
vhtÿíqfld gh odujxudv qrplqdlv/ gr sqhx/ vhjxh xp sdguær txh shuplwh lghqwlfdu d txh
vìulh shuwhqfh r sqhx/ frpr sru h{hpsor=
Sqhx vxshu edoær +beH,
M* ' fc bD vìulh bD
Durv 0 f( 2( ( e( D
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mä txh d pdufd hqwuh rv qýphurv txh hvshflfdp r wdpdqkr ì d ohwud E1
Fdvr 6 = 2D*SD T -
Hvvh sqhx vhjxh d qrphqfodwxud dqwljd vhqgr dv vxdv glphqvøhv h fdudfwhuðvwlfdv dv txh
vhjxhp1
Odujxud qrplqdo 11111111111111110 2D 66

Glåphwur gr dur 111111111111111110 D srohjdgdv
Uhodêær dowxud2odujxud 1111111 0 fc SD
Glåphwur h{whuqr 1111111111111110 D 2Dc e n 2 fc SD 2D ' SSfc D 66
Wlsr gd fdufdêd 111111111111111110 Udgldo
Yhorflgdgh olplwh 1111111111111110 Pdufd Y vljqlfd yhorflgdgh olplwh gh 2f &6*

Fdvr 7 = .D*.f - H2 '
Hvvh sqhx vhjxh d qrphqfodwxud prghuqd gh hvshflfdêær gh sqhxv1 Dv fdudfwhuðvwlfdv
ghvwh sqhx vær=
Odujxud qrplqdo 11111111111111110 .D 66

Glåphwur gr dur 11111111111111110 srohjdgdv
Uhodêær dowxud2odujxud1111111 0 fc .f
Glåphwur h{whuqr 111111111111110 2Dc e n 2 fc . .D ' D.Dc 2 66
Wlsr gd fdufdêd 11111111111111110 Udgldo
Fdsdflgdgh gh fdujd 111111110 R qýphur H2 vljqlfd xpd fdujd qrplqdo gh
eSSf +Wdehod 4143,
Yhorflgdgh olplwh 1111111111111110 D ohwud ' vljqlfd yhorflgdgh pä{lpd gh Sf &6* +Wdehod
4147,
Wdehod 4148= Fodvvlfdêær sdud urgdv prwul}hv1

Vðperor Urgdv prwul}hv
U4 Djulfxowxud
U5 Fxowxudv gh fdqd h duur}
U6 Xvr lqgxvwuldo h duhld
U7 Xvr lqgxvwuldo
41; Ghvljqdêær gh rxwurv sqhxv

41;14 Sqhxv gh fdplrqhwdv/ fdplqkøhv h ÷qlexv
Rv sqhxv sdud xvr qrupdo hp ÷qlexv/ fdplrqhwdv h fdplqkøhv/ dsuhvhqwdp xpd ghv0
ljqdêær pdlv vlpsohv gr txh d gh dxwrpöyhlv/ srlv dv glphqvøhv vær vhpsuh h{suhvvdv hp
srohjdgdv/ dshqdv frp lqglfdêær vxsohphqwdu vh r sqhx iru udgldo1
H{hpsor= Yhulfdu dv glphqvøhv grv vhjxlqwhv sqhxv=
Fdvr 4 = Sqhx 5,B Q5
Dv glphqvøhv ghvvh sqhx vær=
Odujxud 11111111111111111110 5 , srohjdgdv
c
Glåphwur gr dur1111110 Q5 srohjdgdv

Wlsr gd fdufdêd1111110 Gldjrqdo
Fdvr 5 = Sqhx > BB B
-
Dv glphqvøhv ghvvh sqhx vær=

Odujxud 11111111111111111110 > srohjdgdv
Glåphwur gr dur1111110 B srohjdgdv
Wlsr gh fdufdêd1111110 Udgldo
41;15 Wudwruhv djuðfrodv h lqgxvwuldlv
Rv sqhxv sdud hvwhv htxlsdphqwrv rshudp hp frqglêøhv edvwdqwh dgyhuvdv gh whuuhqr/ h
r wlsr fd yrowdgr sdud xp rx rxwur wlsr gh dsolfdêær1 Gh prgr d srvvlelolwdu xpd uäslgd
lghqwlfdêær d txh wlsr gh wudedokr txh r sqhx vh suhvwd/ rv phvprv vær fodvvlfdgrv gh
dfrugr frp r fögljr prvwudgrv qdv Wdehodv 4148 h 41491
Qhvvhv wlsrv gh sqhxv h{lvwh xpd glihuhqêd txdqwr d irupd gh ghvljqdu r wdpdqkr sdud
r hl{r gldqwhlur h sdud r wudvhlur/ frpr prvwud0vh d vhjxlu=
Sdud r hl{r gldqwhlur +vrphqwh gluhflrqdo, dv glphqvøhv grv sqhxv vær hvshflfdgdv sru
grlv juxsrv gh qýphurv/ __+odujxud gr sqhx h glåphwur gr dur,/ vhjxlgrv gr fögljr gh
vhuylêr d txh vh suhvwdp1
Sdud r hl{r wudvhlur dv glphqvøhv grv sqhxv wdpeìp vær hvshflfdgdv sru grlv juxsrv
gh qýphurv/ sruìp r sulphlur juxsr gh qýphurv frqwìp hvshflfdêær gd odujxud gr dur
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H +H duwkpryhv, Wudqvs ruwh gh whuud/ duhld h p lqìulr1 U hvlvwíqfld dr fdoru/ d fruwhv/ ghvjdvwh h uxswxud sru lp sdfwr1
J +J udghv, P rwrqlyhodgrudv1 Wudêær h gluljlelolgdgh +y 73np 2k,1
O +Ordghu, Fduuhjdghludv U hvlvwíqfld dr ghvjdvwh h d fruwhv +y ;np 2k,1
OV +Orj 0 Vnlgghu, Wudwruhv ruhvwdlv Wudêær/ xwxdêær h uhvlvwíqfld d fruwhv1
F +F rp sdfwru, Frp sdfwdêær U hvlvwhqwh dr öohr/ d fruwhv h dr ghvjdvwh +y ;np 2k,1
Wdehod 414;= Vxeglylvær grv wlsrv gh vhuylêr gh sqhxv irud gh hvwudgd1

Vxeglylvær Dsolfdêær
H4 Gluhflrqdlv
H5 Wudêær
H6 Sdud shgudv
H7 Edqgd hvshvvd/ sdud shgudv
H8 Uhvlvwhqwh dr fdoru
H9 H{wud uhvlvwhqwh dr fdoru
H: Ioxwxdêær
J4 Gluhflrqdlv
J5 Wudêær
J6 Sdud shgudv
J7 Edqgd hvshvvd/ sdud shgudv
O5 Wudêær
O6 Sdud shgudv
O7 Edqgd hvshvvd/ sdud shgudv
O8 Edqgd h{wud hvshvvd/ sdud shgudv
F4 Edqgd olvd
F5 Udqkxud
OV5 Lqwhuphgläulr +xvr jhudo,
Sdud hvvhv wlsrv gh sqhxv whp0vh wuív vìulhv gh odujxud/ dv txdlv hvwær olvwdgdv d vhjxlu=
Frqyhqflrqdo 0 vìulh bS0 D fdudfwhul}dêær ghvwd vìulh ì ihlwd dwudyìv gr qýphur txh
hvshflfd d odujxud1 R phvpr ì vhpsuh lqwhlur h h{suhvvr hp srohjdgdv1
Sqhxv Edvh Odujd 0 vìulh H 0 D fdudfwhul}dêær ghvwd vìulh wdpeìp ì ihlwd dwudyìv gr
qýphur txh hvshflfd d odujxud1 Qhvwh fdvr d phvpd ì vhpsuh h{suhvvd hp iudêøhv gh
srohjdgdv1
Sqhxv gh shuo edl{r 0 vìulh SD 0 D fdudfwhul}dêær ghvwd vìulh ì ihlwd shor qýphur SD txh
vhpsuh dqwhfhgh d odujxud qrplqdo gr sqhx1
Revhuydêær= Txdqgr rv txdwur wlsrv dflpd iruhp vhjxlgrv gd ohwud V/ d edqgd ì olvd +H{=
O7V,1
H{hpsorv= Yhulfdu dv fdudfwhuðvwlfdv grv vhjxlqwhv sqhxv1
Fdvr 4= Sqhx H ff 2D1
Fdsðwxor 4 0 Sqhxv 6<
Frpr d odujxud ì h{suhvvdgd sru xp qýphur lqwhlur hvwh sqhx ì gd vìulh bS/ h srvvxl dv
vhjxlqwhv fdudfwhuðvwlfdv=
Odujxud qrplqdo1111111111111111111111 ' H srohjdgdv
Vìulh1111111111111111111111111111111111111111M* ' fc bS
Glåphwur gr dur1111111111111111111111_ ' 2D srohjdgdv
Glåphwur h{whuqr gr sqhx111111( ' Sf srohjdgdv1
Fdvr 5= Sqhx Hff
Frpr d odujxud ì h{suhvvdgd sru xp qýphur lqwhlur hvwh sqhx ì gd vìulh bS/ h srvvxl dv
vhjxlqwhv fdudfwhuðvwlfdv=
Odujxud qrplqdo1111111111111111111111 ' H srohjdgdv
Vìulh1111111111111111111111111111111111111111M* ' fc bS
Glåphwur gr dur1111111111111111111111_ ' srohjdgdv
Glåphwur h{whuqr gr sqhx111111( ' SH srohjdgdv1
Fdvr 6= Sqhx 2bD 2D
Frpr d odujxud ì h{suhvvdgd sru xp qýphur iudflrqäulr hvvh sqhx ì gd vìulh H/ h srvvxl
dv vhjxlqwhv fdudfwhuðvwlfdv=
Odujxud qrplqdo1111111111111111111111 ' 2bc D srohjdgdv
Vìulh1111111111111111111111111111111111111111M* ' fc H
Glåphwur gr dur1111111111111111111111_ ' 2D srohjdgdv
Glåphwur h{whuqr gr sqhx111111( ' .e srohjdgdv
Fdvr 7= Sqhx 2D D
Frpr d odujxud ì h{suhvvdgd sru xp qýphur iudflrqäulr hvvh sqhx ì gd vìulh H h srvvxl
dv vhjxlqwhv fdudfwhuðvwlfdv=
Odujxud qrplqdo1111111111111111111111 ' c 2D srohjdgdv
Vìulh1111111111111111111111111111111111111111M* ' fc H
Glåphwur gr dur1111111111111111111111_ ' D srohjdgdv
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UNIVERSIDADE FEDERAL DE SANTA CATARINA

Uma introdução à modelagem quase-estática de

Publicação interna do GRANTE - Departamento de Engenharia Mecânica

Wong, J.Y.Theory of ground vehicles. USA: John Wiley&Sons.

Reimpell J. Fahrwerk Technik. Germany: Vogel Verlag. 1978.

Gillespie T. D. Fundamentals of Vehicle Dynamics. USA: SAE.

Automotive Handbook. Germany: Robert Bosch GmbH, 1996

Setright, L.J.K. Automobile tyres. UK: Chapman and Hall Ltda.1972.

" 5GDNL "

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