Date of Award


Document Type

Master's report

Degree Name

Master of Science in Mechanical Engineering (MS)

College, School or Department Name

Department of Mechanical Engineering-Engineering Mechanics


Bo Chen


The Electronic Control Unit (ECU) of an Electric Power Steering (EPS) system is a core device to decide how much assistance an electric motor applies on steering wheel. EPS ECUs play an important role in EPS systems. The effectiveness of EPS ECUs needs to be thoroughly tested before mass production. Hardware-in-the-loop (HIL) simulation provides an efficient way for the development and testing of embedded controllers. This report focuses on the development of HIL system for testing EPS controllers. The hardware of the HIL system employs a dSPACE HIL simulator. The EPS plant model is an integrated model consisting of Vehicle Dynamics model of the dSPACE Automotive Simulation Model (ASM) and the Nexteer model. The report presents the design of EPS HIL system, the simulation of sensors and actuators, the functions of ASM Vehicle Dynamics model, and the integration method of ASM Vehicle Dynamics model with Nexteer model. The offline simulation of the integrated model is performed and the results for different driving maneuvers are presented. The real-time HIL testing will be conducted in the future to examine the performance of an entire HIL system.