1. Beijing Key Laboratory of Performance Guarantee on Urban Rail Transit Vehicle, School of Mechanical–Electronic and Automobile Engineering, Beijing University of Civil Engineering and Architecture, No. 1 Zhanlanguan Road, Xicheng Distirct, Beijing 100044, China
2. Beijing Key Laboratory of Performance Guarantee on Urban Rail Transit Vehicle, School of Mechanical–Electronic and Automobile Engineering, Beijing University of Civil Engineering and Architecture, No. 1 Zhanlanguan Road, Xicheng District, Beijing 100044, China
3. School of Mechanical, Electronic and Control Engineering, Beijing Jiaotong University, No. 3, Shangyuan Cun, Haidian District, Beijing 100044, China