1. Hebei Provincial Key Laboratory of Heavy Machinery Fluid Power Transmission and Control, School of Mechanical Engineering, Yanshan University, Qinhuangdao 066004, China
2. State Key Laboratory of Fluid Power and Mechatronic Systems, Zhejiang Univershity, Hangzhou 310027, China
3. Key Laboratory of Advanced Forging & Stamping Technology and Science, Ministry of Education of China Yanshan University, Qinhuangdao 066004, China