Abstract: Based on the theory of vehicle system dynamics and Lagrange's theorem, the dynamics equation of the nine-degree freedom active suspension of the instrument-vehicle-road coupling was derived. White noise was used as the random road roughness excitation of the left and right wheels. LQR controller was designed according to the optimal control principle, and an active suspension control simulation model was established. An adaptive particle swarm algorithm was used to optimize the weighting coefficient <i<Q</i<, and the root mean square values of the equipment acceleration and other performance parameters of the active suspension were compared and analyzed with passive suspension. Simulation results show that the LQR controller, which is optimized by adaptive particle swarm optimization, can significantly improve the ride comfort and protect the reliability of on-board equipment.