Steering device

1. A steering device comprising:

a turning shaft configured to turn turning wheels;

a steering mechanism including the turning shaft;

a motor configured to generate drive power that is applied to the steering mechanism; and

a control device configured to control the motor based on a command value that is calculated according to a steered state, wherein:

the control device includes a steering-range axial force calculating circuit, a limiting axial force calculating circuit, a final axial force calculating circuit, and an axial force adjusting circuit,

the steering-range axial force calculating circuit is configured to calculate a steering-range axial force including an axial force that reflects at least a force acting on the turning shaft via the turning wheels when a steering wheel is operated in a predetermined operation range,

the limiting axial force calculating circuit is configured to calculate a limiting axial force that is an axial force for virtually limiting an operation of the steering wheel,

the final axial force calculating circuit is configured to calculate a final axial force that is a final axial force reflected in the command value based on the steering-range axial force and the limiting axial force,

the axial force adjusting circuit is configured to adjust a value of the steering-range axial force, the limiting axial force, or the final axial force based on the axial force that reflects the force acting on the turning shaft when the final axial force reflects the limiting axial force, and

the axial force adjusting circuit is configured to decrease a degree of reflection of the steering-range axial force or the limiting axial force in the final axial force according to a ratio at which the axial force that reflects a force acting on the turning shaft occupies the steering-range axial force when the final axial force reflects the limiting axial force.

2. The steering device according to claim 1 , wherein the final axial force calculating circuit is configured to calculate the final axial force by summing the steering-range axial force and the limiting axial force.

3. The steering device according to claim 1 , wherein

the limiting axial force calculating circuit is configured to calculate at least one of a first limiting axial force, a second limiting axial force, and a third limiting axial force,

the first limiting axial force is an axial force for virtually limiting the operation range of the steering wheel,

the second limiting axial force is an axial force for virtually limiting the operation of the steering wheel when a turning operation of the turning wheels is limited, and

the third limiting axial force is an axial force for virtually limiting the operation of the steering wheel when a torque of the motor is limited to a value less than a torque that is inherently generated.

4. The steering device according to claim 1 , wherein

the steering mechanism has a structure in which transmission of power between the steering wheel and the turning wheels is cut off or a structure in which transmission of power between the steering wheel and the turning wheels is intermittent, and

the motor is a reaction motor that generates a steering reaction force that is a torque in a direction opposite to an operation direction of the steering wheel as the drive power.

5. The steering device according to claim 1 , wherein

the steering mechanism has a structure in which the steering wheel and the turning wheels are connected in a power-transmittable manner, and

the motor is an assist motor that generates a steering assist force that is a torque in a direction parallel to an operation direction of the steering wheel as the drive power.

6. A steering device comprising:

a turning shaft configured to turn turning wheels;

a steering mechanism including the turning shaft;

a motor configured to generate drive power that is applied to the steering mechanism; and

a control device configured to control the motor based on a command value that is calculated according to a steered state, wherein:

the control device includes a steering-range axial force calculating circuit, a limiting axial force calculating circuit, a final axial force calculating circuit, and an axial force adjusting circuit,

the steering-range axial force calculating circuit is configured to calculate a steering-range axial force including an axial force that reflects at least a force acting on the turning shaft via the turning wheels when a steering wheel is operated in a predetermined operation range,

the limiting axial force calculating circuit is configured to calculate a limiting axial force that is an axial force for virtually limiting an operation of the steering wheel,

the final axial force calculating circuit is configured to calculate a final axial force that is a final axial force reflected in the command value based on the steering-range axial force and the limiting axial force,

the axial force adjusting circuit is configured to adjust a value of the steering-range axial force, the limiting axial force, or the final axial force based on the axial force that reflects the force acting on the turning shaft when the final axial force reflects the limiting axial force,

the steering-range axial force is acquired by mixing a first axial force that reflects a force acting on the turning shaft and a second axial force that does not reflect a force acting on the turning shaft at a ratio that is set according to a vehicle state, and

the axial force adjusting circuit is configured to decrease the value of the limiting axial force according to the ratio at which the first axial force occupies the steering-range axial force when the final axial force reflects the limiting axial force.

7. A steering device comprising:

a turning shaft configured to turn turning wheels;

a steering mechanism including the turning shaft;

a motor configured to generate drive power that is applied to the steering mechanism; and

a control device configured to control the motor based on a command value that is calculated according to a steered state, wherein:

the control device includes a steering-range axial force calculating circuit, a limiting axial force calculating circuit, a final axial force calculating circuit, and an axial force adjusting circuit,

the steering-range axial force calculating circuit is configured to calculate a steering-range axial force including an axial force that reflects at least a force acting on the turning shaft via the turning wheels when a steering wheel is operated in a predetermined operation range,

the limiting axial force calculating circuit is configured to calculate a limiting axial force that is an axial force for virtually limiting an operation of the steering wheel,

the final axial force calculating circuit is configured to calculate a final axial force that is a final axial force reflected in the command value based on the steering-range axial force and the limiting axial force,

the axial force adjusting circuit is configured to adjust a value of the steering-range axial force, the limiting axial force, or the final axial force based on the axial force that reflects the force acting on the turning shaft when the final axial force reflects the limiting axial force,

the steering-range axial force is acquired by mixing a first axial force that reflects a force acting on the turning shaft and a second axial force that does not reflect a force acting on the turning shaft at a ratio that is set according to a vehicle state, and

the axial force adjusting circuit is configured to decrease the value of the second axial force or the steering-range axial force according to the ratio at which the first axial force occupies the steering-range axial force when the final axial force reflects the limiting axial force.