diff --git a/User/module/balance_chassis.c b/User/module/balance_chassis.c
index 4da5ecb..4436060 100644
--- a/User/module/balance_chassis.c
+++ b/User/module/balance_chassis.c
@@ -397,8 +397,10 @@ int8_t Chassis_LQRControl(Chassis_t *c, const Chassis_CMD_t *c_cmd) {
     // 横滚角补偿力（左腿减少支撑力）
     virtual_force[0] =
         (c->lqr[0].control_output.Tp) * sinf(c->vmc_[0].leg.theta) +
-        pid_output + 50.0f + roll_compensation_force;
-
+        pid_output + 60.0f + roll_compensation_force;
+    // virtual_force[0] =
+    //     (c->lqr[0].control_output.Tp) * sinf(c->vmc_[0].leg.theta) +
+    //     pid_output + 60.0f;
     // VMC逆解算（包含摆角补偿）
     if (VMC_InverseSolve(&c->vmc_[0], virtual_force[0],
                          c->lqr[0].control_output.Tp + Delta_Tp[0]) == 0) {
@@ -421,7 +423,10 @@ int8_t Chassis_LQRControl(Chassis_t *c, const Chassis_CMD_t *c_cmd) {
     // 横滚角补偿力（右腿增加支撑力）
     virtual_force[1] =
         (c->lqr[1].control_output.Tp) * sinf(c->vmc_[1].leg.theta) +
-        pid_output + 55.0f - roll_compensation_force;
+        pid_output + 65.0f - roll_compensation_force;
+    // virtual_force[1] =
+    //     (c->lqr[1].control_output.Tp) * sinf(c->vmc_[1].leg.theta) +
+    //     pid_output + 65.0f;
 
     // VMC逆解算（包含摆角补偿）
     if (VMC_InverseSolve(&c->vmc_[1], virtual_force[1],