Conference article

Modelling and Development of a Pseudo-Hydraulic Power Steering Model for use in Real-Time Applications

Theodor Ensbury
Claytex Services Ltd. Edmund House, Rugby Road, Leamington Spa, CV32 6EL, UK

Peter Harman
CAE Tech Limited, Leamington Spa, UK

Mike Dempsey
Claytex Services Ltd. Edmund House, Rugby Road, Leamington Spa, CV32 6EL, UK

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Published in: Proceedings of the 2nd Japanese Modelica Conference, Tokyo, Japan, May 17-18, 2018

Linköping Electronic Conference Proceedings 148:20, p. 137-146

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Published: 2019-02-21

ISBN: 978-91-7685-266-8

ISSN: 1650-3686 (print), 1650-3740 (online)


Driver-in-the-loop (DiL) simulation is playing an increasing role in automotive OEM development processes. Vehicle models used in these activities therefore need to be as accurate, and realistic, as possible. This paper will present the modelling and development of a pseudo-hydraulic power steering model, designed for usage in DiL applications. Specific focus during development has been towards the quantification and analysis of the torque feedback from the steering model to the simulator rig steering wheel, to produce as realistic a steering ‘feel’ as possible. Metrics derived from physical testing of vehicle steering systems have been deployed to analyze the torque feedback of the steering system. Subsequent assessment of the steering model and specific parameterization has been used to inform the model parameters utilized. Results quantifying the performance of the steering model during full vehicle testing using the Claytex VeSyMA platform are presented.


Driver-in-the-loop, DiL, steering feel, hydraulic power steering


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