http://www.cs.brown.edu/courses/cs092/VA10/HTML/GoethesTriangle.htmlthis thing above is real fun, I suggest you use it.
Now, it's still guesswork for me, but there are basic rules. I lack deep technical knowledge, but generally I avoid too much saturation in natural surfaces, ultra saturation is for plastic colour and human made reflectives, of which I don't draw much anyway. So as long as you keep saturation low, you pick a hue, any hue

well whatever hue you think will make a good base. Let's say we're making a human face. A desaturated dry flesh tone will do. From there, we consider the lightsource tint. Lightsources have tints. daylight is bright yellow and reflective blues and what have you. Therefore we start making the shades go towards the yellow highlight we need. The darker shades should complement the yellow with the opposite colour in the colourwheel, in this case, purple. So darker shades mean less saturation, and towards purple. Lighter shades, more saturation ( naturally, but don't overdo it). That's pretty basic, and I've done the purple-flesh-yellow skin ramp for spritework for the last 3 years or something. However, here I have 16 shades, which is way more than I'd need for modest purple-flesh-yellows. so what do I do with intermediate shades? I decide to represent other parts of the colourwheel, do near neighbour tints. Now, this is a bit guesswork and a bit 'lol let's see how much we can cram into this thing lol!' but not as much as you'd think. For example, I selected mid-range pinks/oranges because I knew I'd need them for where the flesh is pink with sanguine humour so to speak, and greens because I wanted that sort of zombie thing going on. So when you have a few primary tints, and a few secondary tints, you try to bridge from one shade to the next, the fine art of minmaxing lightness/constrast/hue to have a servicable ramp. for example, when I entered the first orange on the cheek in step 3 after pep suggested oranges, I just selected the colour below (a blue shade) and shifted the hue to orange to see how it looks. However, this is not a finalized shade. For this shade to be used for maximal effect, it has to NOT be the same lightness and saturation as the shade below it, it needs to be lighter, or darker, even if it's by a little bit ( you can get shades to work with eachother even if they're 10 or 20 lightness apart if you tweak the saturation. It's really hit and miss here ) so it becomes part of the RAMP, not just an alternate tint to be used only here and there. My focus is on using all the colours everywhere, at this time in my pixel art path, therefore unifying the palette is no1 priority on any piece for me. This creates, however, baroque-ish and monochromatic pieces. everything just melts into itself, a wonderful flurry of colours. This is the effect I want, but others prefer segmented colours and more game-arty things. Look at the three blick coloured pieces by myself, tomi and pep. Look how Tomi made it into a game sprite, with 3 ramps ( blue, red, green ) pep applied his special stylistics with the bright but unified palette, and mine is sorta monochromatic, every colour everywhere...
hope the rambling helps. If you need any clarifications, ask.