I have just solved the problem. I am using centos 7. And the trouble-maker is firewall.Using "systemctl stop firewalld" to shut it all down in each server can simply solve the problem.Or you can use command like
firewall-cmd --zone=public --add-port=2181/udp --add-port=2181/tcp --permanent" to configure all three ports ,include 2181,2888,3888 in each server.And then "firewall-cmd --reload
Finally use
zkServer.sh restart
to restart your servers and problem solved.