2014中国汽车工程学会年会用户论文集：A modified coulomb friction model is widely used to simulate the steering friction torque felt by the driver in Steer-by-Wire(SBW) systems, which leads to system instability and torque ripple when a better friction feel is pursued. In this paper, Hinf control method is applied to conquer the multi-objective control problem to improve the haptic simulation of friction torque, and two evaluation indexes of the friction feel is selected. Satisfying performance of the proposed method is verified by simulation and experiments. The method can be used to improve steering friction feel of Driving Simulator and SBW vehicles or other Virtual Reality systems.Hinf控制的摩擦力矩的线控转向仿真系统