The basic structure and working principle of force control type electronic hydraulic power steering (EHPS) were introduced. The mathematical models were established of the main oil line based on rotary valve and that of the bypass based on electrohydraulic proportional valve, and simulation analysis was carried out. On basis of it, the force control type EHPS was tested on the test bench, and simulation results were verified. The results show that the simulation results are in good agreement with the experimental ones, and verify the validity of the model.