diff --git a/User/module/balance_chassis.c b/User/module/balance_chassis.c
index 090702a..07cbcc1 100644
--- a/User/module/balance_chassis.c
+++ b/User/module/balance_chassis.c
@@ -1041,10 +1041,16 @@ int8_t Chassis_LQRControl(Chassis_t *c, const Chassis_CMD_t *c_cmd) {
     float world_vy = c_cmd->move_vec.vy * c->param->rotor_ctrl.max_trans_speed;
     c->chassis_state.target_velocity_x = -world_vx * sinf(gimbal_offset) + world_vy * cosf(gimbal_offset);
     c->chassis_state.last_target_velocity_x = c->chassis_state.target_velocity_x;
-    c->chassis_state.target_x += c->chassis_state.target_velocity_x * c->dt;
   } else {
     c->chassis_state.target_velocity_x = c_cmd->move_vec.vx * 2.0f;
     c->chassis_state.last_target_velocity_x = c->chassis_state.target_velocity_x;
+  }
+
+  /* 有速度指令时：纯速度控制，目标位移跟随当前位移（消除位移误差）
+   * 无速度指令时：位移+速度双环控制，积分保持位置锁定 */
+  if (fabsf(c->chassis_state.target_velocity_x) > 0.01f) {
+    c->chassis_state.target_x = c->chassis_state.position_x;
+  } else {
     c->chassis_state.target_x += c->chassis_state.target_velocity_x * c->dt;
   }