1. Department of Vehicle Engineering, School of Urban Rail Transportation, Shanghai University of Engineering Science, 333 Longteng Road, Shanghai 201620, China e-mail:
2. Jiangxi Province Key Laboratory of Precision Drive and Control, Nanchang Institute of Technology, 289 Tianxiang Avenue, Nanchang 330099, China e-mail:
3. Department of Mechanical Engineering, School of Mechanical and Automotive Engineering, Shanghai University of Engineering Science, 333 Longteng Road, Shanghai 201620, China e-mail: