1. School of Electrical Engineering and Automation, Tianjin University of Technology, Tianjin 300384, China
2. Engineering Training Centers, Tianjin University of Technology, Tianjin 300384, China
3. School of Mechanical Engineering, Tiangong University, Tianjin 300384, China
4. Tianjin Key Laboratory of Advanced Electromechanical System Design and Control, Tianjin University of Technology, Tianjin 300384, China