1. School of Mechatronic Engineering, Lanzhou Jiaotong University, Lanzhou 730070, China
2. School of Traction Power, Xi’an Railway Vocational & Technical Institute, Xi’an 710026, China
3. MechatronicsT&R Institute, Lanzhou Jiaotong University, Lanzhou 730070, China
4. Engineering Technology Center for Informatization of Logistics & Transport Equipment, Lanzhou 730070, China