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The bacterial flagellar motor plays a crucial role in both bacteriallocomotion and chemotaxis. Recent experiments reveal that the switchingdynamics of the motor depends on the motor rotation speed, and thus the motortorque, non-monotonically. Here we present a unified mathematical model whichmodels motor torque generation based on experimental torque-speed curves andtorque-dependent switching based on the conformational spread model. The modelsuccessfully reproduces the observed switching rate as a function of therotation speed, and provides a generic physical explanation independent of mostdetails. A stator affects the switching dynamics through two mechanisms:accelerating the conformation flipping rates of individual rotor switchingunits, which favours slower motor speed and thus increasing torque; andaffecting more switching units within unit time, which favours faster speed.Consequently, the switching rate shows a maximum at intermediate speed. Ourmodel predicts that a motor switches more often with more stators. Theload-switching relation may serve as a mechanism for sensing the physicalenvironment, similar to the chemotaxis system for sensing the chemicalenvironment. It may also coordinate the switch dynamics of motors within acell.

Coupling between switching regulation and torque generation in bacterial flagellar motor