Considering the inertia moment of control arm，wheel mass and its inertia moment about the longitudinal axis and tire damping and lateral deflection，a novel model based on a quarter car one with MacPherson suspension is established． This kinematic-dynamic model overcomes two weaknesses of the classical 2DOF model: it accounts

for linkage geometry and lateral stiffness of tire． The displacement of the sprung mass and the tire dynamic load of proposed model，three-dimensional model established in the ADAMAS/View and the classical 2DOFs model are

calculated and compared． It is found that the proposed model in this paper is closer to the three-dimensional model than classical 2DOFs model． This proposed model is validated by comparing with two kinematic parameters: camber angle and track width variation calculated in this model and three-dimensional model respectively． In addition， the

PID and sky-hook on-off control algorithm are applied to the proposed model respectively and the control effects of

two algorithms are compared．