The characteristic data of damping coefficient of the magneto-rheological damper, which are concerning the relationship between force and velocity, are to be measured under different currents and to be introduced to the multi-body dynamic simulation model of Macpherson suspension. With the sprung mass velocity and its change rate as the active suspension control output, the semi-active suspension adopts the fuzzy PID controller, followed by an online real time adjustment of fuzzy PID controller with a fuzzy control strategy within a given parameter range, thus establishing a co-simulation model of the suspension system in MATLAB. The simulation results show that: at different speed stages, the fuzzy PID controller has an obvious effect on the improvement of the overall performance of the suspension.The vertical acceleration of the vehicle body, the dynamic stroke of the suspension and the lateral slip of the wheel are drastically improved at the low frequency stage, and the ride comfort and handing stability of the vehicle are enhanced in different speed ranges.