function M=mass(t,y,m1,m2,L,g)
% 創(chuàng)建矩陣，存儲加權(quán)函數(shù)矩陣
M=zeros(6,6);
M(1,1)=1;
M(2,2)=m1+m2;
M(2,6)=-m2*L*sin(y(5));
M(3,3)=1;
M(4,4)=m1+m2;
M(4,6)=m2*L*cos(y(5));
M(5,5)=1;
M(6,2)=-L*sin(y(5));
M(6,4)=L*cos(y(5));
M(6,6)=L^2;
%M(:,1)=1;