My electric bicycle has three 12v sealed lead acid batteries powering its 200w motor. The bike weighs a ton for this reason but I don't need to pedal, I just use the throttle and I can go pretty fast, even uphill. Apparently it can do 15 mph without pedalling.

The batteries apparently last 100-200 recharge cycles before needing replacement.
I am keen to make each battery set last as long as possible.

Should I wait till the charge is almost empty before recharging, or fully recharge regularly after even the shortest outing, or does it not matter?

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Keep the batteries as topped up as you can and never allow the voltage per battery to exceed 13.8V or drop below 10.5V.

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Deep discharging generally reduces the life of lead acid batteries so charge after every use.

Keeping the batterys continually on a float trickle-charge is the best way to maintain them between uses.

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Carl

 

Actually, float charging a sealed (or other standby) lead/acid cell battery may not be optimum for extended life compared to recharging & then rest, then recharge again before self discharge is significant.
Articles that I have read claim positive plate degredation due to constant applied float voltage.
Experience of in service battery powered equipment (that I have manufactured & serviced over the past 12 years) indicates strongly that float charging the VRLA or sealed lead/acid cell battery has shorter life than those that are recharged & then put on the shelf for a few months.
This would not apply to the same extent to car batteries that can spend a lot of time at high float voltage if driven a lot, but on average in use car batteries have quite a large rest time. ( for me 30min/day charged 1410min rest Batt date: 06.2004)

Some UPS manufacturers use ABM - Advanced Battery Management charging as opposed to float charging their battery packs.

 

I agree with the others, charge after each use to the battery's rated maximum voltage, this prevents sulphate build-up on the plates increasing the life of the batteries. Also open circuit after full charge is fine for extended periods of time (although not for years!!)