1. School of Mechanical Engineering, Xi’an Jiaotong University, Xi’an 710049, China
2. National Key Laboratory of Metal Forming Technology and Heavy Equipment, Xi’an 710049, China
3. Xi’an Key Laboratory of Intelligent Equipment and Control, Xi’an 710049, China
4. Wuhan Second Ship Design and Research Institute, Wuhan 430035, China
5. School of Energy and Power Engineering, Xi’an Jiaotong University, Xi’an 710049, China