In order to improve the dynamic performance of traditional passive suspension and recovery vibration energy from it, a semi\active hybrid suspension system was designed. The dynamic equation of the 1/4 vehicle was established, and then the variations of current in the Boost mode and Buck mode were studied respectively, and the influence of duty cycle of Mosfet on electromagnetic damping force of the linear motor was also analyzed. On this basis, semiactive control strategy based on skyhook and groundhook hybrid control was introduced. The concept of semi\active control reference force (Fref) was proposed, and the optimal control parameters of the semi-active control reference force were determined by using the particle swarm optimization algorithm. Through tracking the current in different working modes, the purpose of real-time control of the motor electromagnetic damping force was reached. Then the hybrid suspension system model was built by Simulink simulation, and the dynamic and regenerative performance of the hybrid suspension system and the current tracking control effect of the semi-active controller were compared respectively. The simulation results showed that the semi-active hybrid suspension could improve the dynamic performance of vehicle, and partial vibration energy was recovered at the same time, the semi-active controller that designed had better control effect on current. Finally, the bench test was carried out, and the correctness of the simulation results was verified by comparing with the test results.