Wheel Slip (\( \%WS \)):

\[ \%WS = \frac{Nw1 - Nw0}{Nw1} \times 100 \]

Where:

• \( Nw1 \) is the sum of the revolutions of all driving wheels for a given distance with slip, in rpm.
• \( Nw0 \) is the sum of the revolutions of all driving wheels for the same distance without slip, in rpm.