The electric power steering (EPS) system is the core component of the car. The use of power hardware-in-the-loop simulation test technology can shorten the system development time, reduce the development cost, and reduce the development risk, so it has become a very important part of the development process. A dual three-phase permanent magnet synchronous motor (PMSM) with a phase shift of 30° is used as the research object, and a motor emulator scheme based on a power electronic converter is proposed to simulate the dynamic and static electrical behaviors of the motor under different load conditions. It provides an efficient platform for the control algorithm development and fault simulation tests of EPS system. Simulation results verify the effectiveness and feasibility of the proposed scheme.