I'm trying to wrap my head around the question: "what is the optimal slip ratio and how do I go about controlling it?". I'm working on a control strategy for an electrical vehicle. The issue I'm facing is that of maximizing traction. The way I can measure slip ratio is by measuring difference between wheel velocity and vehicle velocity (both of which let's assume are measured separately).
Now, what I need to do (I think) is to figure out a way to maximize traction by always keeping the slip ratio at some specific value. But what value? Also it seems wrong to always try to keep wheel speeds at an offset from vehicle speed. I suppose I only should be doing this during acceleration/deceleration? How can I do this in a generic way without having to implement different strategies for accel/decel?