基金Project supported by the National Natural Science Foundation of China(No.51275459)the Science Fund for Creative Research Groups of National Natural Science Foundation of China(No.51221004)+3 种基金the National Basic Research Program of China(No.2011CB706503)the National Science and Technology Major Project of China(No.SK201201A28-01)the Fundamental Research Funds for the Central Universitiesthe Innovation Foundation of the State Key Laboratory of Fluid Power Transmission and Control,China