1. Department of Mechanics, School of Mechanical Engineering, Tianjin University, Tianjin, China
2. Tianjin Key Laboratory of Nonlinear Dynamics and Control, Tianjin University, Tianjin, China
3. Tianjin Internal Combustion Engine Research Institute, Tianjin University, Tianjin, China
4. Technical Center, QiQiHar Railway Rolling Stock Co., Ltd, Qiqihar, China