1. Shaanxi Yanchang Petroleum and Minging Co., Ltd. 1 , Xi’an 710075, China
2. Jiangsu Key Laboratory of Mine Mechanical and Electrical Equipment, School of Mechatronic Engineering, China University of Mining and Technology 2 , Xuzhou 221116, China
3. School of Mechatronic Engineering, Jiangsu Normal University 3 , Xuzhou 221116, China