1. Research Institute of Machinery and Electronics, Taiyuan University of Technology, Taiyuan 030024, China
2. Key Laboratory of Advanced Transducers & Intelligent Control System, Ministry of Education, Taiyuan University of Technology, Taiyuan 030024, China
3. Taiyuan University of Technology College of Mechanical Engineering, Mine Fluid Control Engineering Research Center (Laboratory) in Shanxi Province, Taiyuan 030024, China