Electric power steering (EPS), active front wheel steering (AFS) and steer by wire systems (SBW) can enhance the handling stability and safety of the vehicle, even in dangerous working conditions. Now, the development of the electric control steering system (ECS) is mainly based on the way that combines the test of the electric steering hardware-in-loop (HIL) test bench with real vehicle tests. However, the real vehicle tests with higher cost, long cycle and vulnerable to space weather have the potential safety problems at early development. On contrast, electronic control steering HIL test bench can replace real vehicle tests under various working conditions and make previous preparations for real vehicle road tests, so as to reduce the number of real vehicle test, shorten the development cycle, lower development costs, which has gradually become the important link of research and development of electronic steering system. Based on the study of domestic and foreign related electronic control steering HIL test bench and according to its purpose to develop and function requirements, this paper not only puts forward a set of real-time simulation system based on dSPACE and linear motor electric control to the development of the HIL test bench scheme, but also exploits the software and hardware of the test bench. Simultaneously, the development of the rapid control prototyping and HIL test has been carried on the test bench in electric power steering system.