diff --git a/User/module/balance_chassis.c b/User/module/balance_chassis.c
index 15961e5..dd05833 100644
--- a/User/module/balance_chassis.c
+++ b/User/module/balance_chassis.c
@@ -491,14 +491,15 @@ static void Chassis_ClimbControl(Chassis_t *c, const Chassis_CMD_t *c_cmd) {
       float theta_abs = fabsf(avg_theta);
       float contact_angle = c->param->climb.theta_retract_threshold * 0.5f;
       float tp_min = c->param->climb.tp_scale;
+      float tp_initial = 0.8f;  /* 初始Tp缩放，刚进入就削弱20% */
       float dynamic_scale;
       if (theta_abs < contact_angle) {
-        dynamic_scale = 1.0f;  /* 未撞到，保持正常Tp */
+        dynamic_scale = tp_initial;  /* 未撞到，从80%开始 */
       } else {
         float t = (theta_abs - contact_angle) /
                   (c->param->climb.theta_retract_threshold - contact_angle);
         t = LIMIT(t, 0.0f, 1.0f);
-        dynamic_scale = 1.0f + (tp_min - 1.0f) * sqrtf(t);  /* sqrt: 撞到后快速衰减 */
+        dynamic_scale = tp_initial + (tp_min - tp_initial) * sqrtf(t);  /* sqrt: 撞到后快速衰减 */
       }
       c->lqr[0].control_output.Tp *= dynamic_scale;
       c->lqr[1].control_output.Tp *= dynamic_scale;