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ADAPTIVE SLIDING MODE CONTROL OF LATERAL STABILITY OF FOUR WHEEL HUB ELECTRIC VEHICLES
Shou-Tao Li,Hui Liu,Di Zhao,Qiu-Yuan Li,Yantao Tian,De-Jun Wang,Ding-Li Yu 한국자동차공학회 2020 International journal of automotive technology Vol.21 No.3
Some physical parameters of a hub motor-driven four-wheel electric vehicle will change when the vehicle turns or maneuvers and the parameter change is caused by the change of the driving conditions. An adaptive sliding mode control is proposed in this paper to maintain the vehicle’s stability by compensating for the change of these parameters. The control parameter being adapted is the converging rate of the system state towards the sliding mode. As the Lyapunov method is used, so both the vehicle stability and adaptive rate convergence are guaranteed. Moreover, the hierarchical control structure is adopted for this vehicle stability control system. The above adaptive sliding model control forms the upper-layer; while the lower-layer control is to distribute the upper torque to the four wheels in an optimal way, subject to several constraints. In addition, the best feasible reference of the yaw rate and the vehicle side slip angle are obtained and used in the control system. The developed method is simulated under the CarSim/MATLAB co-simulation environment to evaluate the system performance. The simulation results are compared with the non-adaptive existing sliding mode control, and show that the proposed method is superior under different conditions.
Human Liver Specific Transcriptional Factor TCP10L Binds to MAD4
( Dao Jun Jiang ),( Hong Xiu Yu ),( Sa Yin Hexige ),( Ze Kun Guo ),( Xiang Wang ),( Li Jie Ma ),( Zheng Chen ),( Shou Yuan Zhao ),( Long Yu ) 생화학분자생물학회 2004 BMB Reports Vol.37 No.4
A human gene T-complex protein 10 like (TCP10L) was cloned in our lab. A previous study showed that it expressed specifically in the liver and testis. A transcription experiment revealed that TCP10L was a transcription factor with transcription inhibition activity. In this study, the human MAD4 was identified to interact with TCP10L by a yeast two-hybrid screen. This finding was confirmed by immunoprecipitation and subcellular localization experiments. As MAD4 is a member of the MAD family, which antagonizes the functions of MYC and promotes cell differentiation, the biological function of the interaction between TCP10L and MAD4 may be to maintain the differentiation state in liver cells. Also, we propose that the up-regulation of Myc is caused by the down-regulation of TCPIOL in human hepatocarcinomas.
Human Liver Specific Transcriptional Factor TCP10L Binds to MAD4
Jiang, Dao-Jun,Yu, Hong-Xiu,Hexige, Sa-Yin,Guo, Ze-Kun,Wang, Xiang,Ma, Li-Jie,Chen, Zheng,Zhao, Shou-Yuan,Yu, Long Korean Society for Biochemistry and Molecular Biol 2004 Journal of biochemistry and molecular biology Vol.37 No.4
A human gene T-complex protein 10 like (TCP10L) was cloned in our lab. A previous study showed that it expressed specifically in the liver and testis. A transcription experiment revealed that TCP10L was a transcription factor with transcription inhibition activity. In this study, the human MAD4 was identified to interact with TCP10L by a yeast two-hybrid screen. This finding was confirmed by immunoprecipitation and subcellular localization experiments. As MAD4 is a member of the MAD family, which antagonizes the functions of MYC and promotes cell differentiation, the biological function of the interaction between TCP10L and MAD4 may be to maintain the differentiation state in liver cells. Also, we propose that the up-regulation of Myc is caused by the down-regulation of TCP10L in human hepatocarcinomas.