| 摘要 |
PROBLEM TO BE SOLVED: To provide a steering device that can give a passenger feedback that there is a mismatch between a turning angle of a driver's wheel and a steering angle of a steering wheel, and is excellent in responsibility, and to provide a traveling vehicle equipped with the same.SOLUTION: The steering device includes: a driver's wheel load control section 20 that drives a worm 4 according to a between-axles-torque T, and rotates a feedback shaft 3 following an input shaft 2 in a direction for reducing a mismatched angle; a steering control section 21 for turning the steering wheel so as to reduce angle deviation between the rotating angle of the input shaft 2 and the steering angle of the steering wheel; and a storage section for storing a limit value of a torque command value output to the worm 4 in each angle deviation. The driver's wheel load control section 20 drives the worm 4 by outputting the torque command value limited so as not to exceed the limit value stored in the storage section. |
