1. Northwest Institute of Mechanical and Electrical Engineering, Xianyang 712000, China
2. State Key Laboratory of Automotive Simulation and Control, Jilin University, Changchun 130022, China
3. Department of Mechanical and Aerospace Engineering, Brunel University London, Middlesex UB8 3PH, UK
4. Jiangsu Chaoli Electric Co., Ltd., Danyang 212321, China