diff --git a/User/module/balance_chassis.c b/User/module/balance_chassis.c
index fe925b7..3018419 100644
--- a/User/module/balance_chassis.c
+++ b/User/module/balance_chassis.c
@@ -402,8 +402,8 @@ int8_t Chassis_LQRControl(Chassis_t *c, const Chassis_CMD_t *c_cmd) {
         target_state.d_theta = 0.0f; // 目标摆杆角速度
         // target_state.x = 0; // 目标位置
         // target_state.d_x = 0.0f; // 目标速度
-        target_state.phi = -0.1f; // 目标俯仰角
-        target_state.d_phi = 0.0f; // 目标俯仰角速度
+        target_state.phi = 0.0f; // 目标俯仰角
+        target_state.d_phi = -0.4f; // 目标俯仰角速度
         // target_state.theta = -0.8845f * leg_L0[leg] + 0.40663f; // 目标摆杆角度
         // target_state.d_theta = 0.0f; // 目标摆杆角速度
         target_state.x = c->chassis_state.target_x; // 目标位置
@@ -462,8 +462,8 @@ int8_t Chassis_LQRControl(Chassis_t *c, const Chassis_CMD_t *c_cmd) {
     c->yaw_control.yaw_force = PID_Calc(&c->pid.yaw, c->yaw_control.target_yaw, c->feedback.yaw.rotor_abs_angle, 0.0f, c->dt);
     
     /* 轮毂力矩输出（参考C++版本的减速比） */
-    c->output.wheel[0] = Tw[0] / 4.5f - c->yaw_control.yaw_force;
-    c->output.wheel[1] = Tw[1] / 4.5f + c->yaw_control.yaw_force;
+    c->output.wheel[0] = Tw[0] / 4.5f + c->yaw_control.yaw_force;
+    c->output.wheel[1] = Tw[1] / 4.5f - c->yaw_control.yaw_force;
     /* 腿长控制和VMC逆解算（使用PID控制） */
     float virtual_force[2];
     float target_L0[2];
diff --git a/User/module/config.c b/User/module/config.c
index 982703c..b2bc584 100644
--- a/User/module/config.c
+++ b/User/module/config.c
@@ -28,9 +28,9 @@ Config_RobotParam_t robot_config = {
     .chassis_param = {
         .yaw={
             .k=1.0f,
-            .p=1.0f,
+            .p=1.2f,
             .i=0.0f,
-            .d=0.0f,
+            .d=0.05f,
             .i_limit=0.0f,
             .out_limit=1.0f,
             .d_cutoff_freq=30.0f,