diff --git a/User/module/balance_chassis.c b/User/module/balance_chassis.c
index 90d6289..8d08335 100644
--- a/User/module/balance_chassis.c
+++ b/User/module/balance_chassis.c
@@ -762,11 +762,11 @@ int8_t Chassis_LQRControl(Chassis_t *c, const Chassis_CMD_t *c_cmd) {
 
   /* ==================== 目标状态 ==================== */
   LQR_State_t target_state = {
-      .theta = 0.0f,
+      .theta = 0.0f+c->param->lqr_offset.theta,
       .d_theta = 0.0f,
-      .phi = 0.0f,
+      .phi = 0.0f+c->param->lqr_offset.phi,
       .d_phi = 0.0f,
-      .x = c->chassis_state.target_x,
+      .x = c->chassis_state.target_x+c->param->lqr_offset.x,
       .d_x = c->chassis_state.target_velocity_x,
   };
 
diff --git a/utils/Simulation-master/balance/series_legs/get_k_length.m b/utils/Simulation-master/balance/series_legs/get_k_length.m
index 03d19c3..d46203b 100644
--- a/utils/Simulation-master/balance/series_legs/get_k_length.m
+++ b/utils/Simulation-master/balance/series_legs/get_k_length.m
@@ -48,8 +48,8 @@ function K = get_k_length(leg_length)
     B=subs(B,[R,L,LM,l,mw,mp,M,Iw,Ip,IM,g],[R1,L1,LM1,l1,mw1,mp1,M1,Iw1,Ip1,IM1,9.8]);
     B=double(B);
     
-    Q=diag([4000  200  500  50  50000 10]);%theta d_theta x d_x phi d_phi%700 1 600 200 1000 1
-    R=[150 0;0 5];                %T Tp
+    Q=diag([4000  200  1000  500  50000 10]);%theta d_theta x d_x phi d_phi%700 1 600 200 1000 1
+    R=[150 0;0 25];                %T Tp
     
     K=lqr(A,B,Q,R);