1. College of Electrical and Information Engineering, Zhengzhou University of Light Industry, Zhengzhou 450000, P.R. China;
2. School of Mechatronics and Vehicle Engineering, Zhengzhou University of Technology,Zhengzhou,China,450044
3. College of Electrical and Information Engineering, Zhengzhou University of Light Industry,Zhengzhou,P.R. China,450000
4. CRRC Academy Co., Ltd,Beijing,China,100081
5. School of Automation, Beijing Institute of Technology,Beijing,P.R. China,100081