[1] Key Laboratory of Industrial Computer Control Engineering of Hebei Province, Yanshan University, Qinhuangdao 066004, China
[2] Hebei Provincial Key Laboratory of Heavy Machinery Fluid Power Transmission and Control, Yanshan University, Qinhuangdao 066004, China
[3] Key Laboratory of Advanced Forging and Stamping Technology and Science (Yanshan University), Ministry of Education of China, Qinhuangdao 066004, China