Rich....
The tyre companies tell us something different to that.
Obviously, each tyre is different BUT..... the broad principle says that the ideal braking is produced when the wheel is rotating at 10% LESS than the speed that the wheel would ROLL forward if not being braked. A FULLY lokced wheel would be rotating 100% less than rolling speed
By any normal way of thinking, a tyre rotating LESS than its rolling speed IS 'skidding' and thus 10% under rotation can be thought of as 'semi-locked'.
This data came about while they were testing traction control and they notiuced that the best acceleration came from rotating the tyre at 10% ABOVE rolling speed.
Our semi-lock braking is just ONE version of this without the use of clever electronics.
I have no proof of this but I suspect tyres work best (at5 braking) at the instant they 'lock' up to the point in time where the contact patch overheats and loses grip again. The 10% under-rotation looks as though it's using this approach, too. Our 'semi-lock' does so in a more crude manner....... but it works. The wheel locks for an instant, heats up, rotates a fraction and heats a new piece of tyre..... and so on.
Ian
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