1. College of Engineering, Hebei Normal University, Shijiazhuang 050024, China
2. Hebei Provincial Key Laboratory of Information Fusion and Intelligent Control, Shijiazhuang 050024, China
3. Jiangsu Tailong Reducer Co., Ltd., Taizhou 225400, China
4. Anhui Provincial Collaborative Innovation Center of Industrial Energy-Saving and Power Quality Control, Anhui University, Hefei 230601, China
5. School of Mathematical Sciences, Hebei Normal University, Shijiazhuang 050024, China