1. Institute of Process Equipment and Control Engineering, Zhejiang University of Technology, Chaowang Road 18#, Hangzhou, Zhejiang 310032, China;
2. School of Mechatronics and Automobile Engineering, Huzhou Vocational and Technical College, Xuefu Road 299#, Huzhou, Zhejiang 313000, China e-mail:
3. Engineering Research Center of Process Equipment and Re-Manufacturing, Ministry of Education, Institute of Process Equipment and Control Engineering, Zhejiang University of Technology, Chaowang Road 18#, Hangzhou, Zhejiang 310032, China e-mail:
4. Institute of Process Equipment and Control Engineering, Zhejiang University of Technology, Chaowang Road 18#, Hangzhou, Zhejiang 310032, China e-mail: