As a tool of modeling the system of multiple energy, bond-graph theory is applied to the modeling for electric power steering system which is electromechanical hybrid. Bond graph models for C type, P type and R type of EPS dynamic system are built respectively. The CH7140 type of car equipped with C type EPS is taken as a prototype and its maneuverable performance is simulated under typical working conditions. A PID control method with time delay transfer function is adopted to imitate the driver’s operation. Steering maneuverability test of the CH7140 car is conducted. The simulation result is consistent with the test result. It is shown that the bond-graph model of EPS is rational, and simulation model derived from bond-graph is effective which can be applied to EPS and full vehicle steering maneuverability simulation research.