1. Key Laboratory of Power System Design and Test for Electrical Vehicle, Hubei University of Arts and Science, Xiangyang 441053, China
2. School of Mechanical Engineering, Hubei University of Arts and Science, Xiangyang 441053, China
3. Department of Robotics Engineering, Henan Polytechnic University, Jiaozuo 454003, China
4. Henan International Joint Laboratory of Direct Drive and Control of Intelligent Equipment, Jiaozuo 454003, China