1. Hebei Provincial Key Laboratory of Heavy Machinery Fluid Power Transmission and Control, Yanshan University, Qinhuangdao 066004, China.
2. Key Laboratory of Advanced Forging & Stamping Technology and Science, Yanshan University, Ministry of Education of China, Qinhaungdao 066004, China.
3. College of Mechanical Engineering, Yanshan University, Qinhuangdao 066004, China.