diff --git a/User/module/balance_chassis.c b/User/module/balance_chassis.c
index 7a2efce..fbcdc88 100644
--- a/User/module/balance_chassis.c
+++ b/User/module/balance_chassis.c
@@ -800,6 +800,20 @@ int8_t Chassis_LQRControl(Chassis_t *c, const Chassis_CMD_t *c_cmd) {
   LQR_CalculateGainMatrix(&c->lqr[0], c->vmc_[0].leg.L0);
   LQR_CalculateGainMatrix(&c->lqr[1], c->vmc_[1].leg.L0);
 
+  /* 速度误差大、高速运动或双腿离地时，禁用x位移跟踪防止轮子失控 */
+  {
+    float vel_error = c->chassis_state.target_velocity_x - c->chassis_state.velocity_x;
+    bool both_off_ground = !c->vmc_[0].leg.is_ground_contact && !c->vmc_[1].leg.is_ground_contact;
+    if (fabsf(c->chassis_state.target_velocity_x) > 0.5f ||
+        fabsf(vel_error) > 0.7f ||
+        both_off_ground) {
+      c->lqr[0].K_matrix[0][2] = 0.0f;  /* 禁用T的x位移增益 */
+      c->lqr[1].K_matrix[0][2] = 0.0f;
+      c->chassis_state.position_x = 0.0f;
+      c->chassis_state.target_x = 0.0f;
+    }
+  }
+
   /* ==================== 目标状态 ==================== */
   /* 腿长-位移补偿：根据腿长多项式拟合补偿位移偏移 */
   float avg_L0 = (c->vmc_[0].leg.L0 + c->vmc_[1].leg.L0) * 0.5f;