A method of controlling a steering control equipment for aircraft which changes the traveling direction of an aircraft by changing the angular position of a steering mechanism of the aircraft while the aircraft is taxiing, including: a detection step of detecting the speed of the aircraft relative to the ground as ground speed and detecting the speed of the aircraft relative to the air as airspeed and detecting the actual angular position of the steering mechanism; a speed setting step of setting the speed of the aircraft on the basis of the ground speed and airspeed detected in the detection step; a calculation step of calculating, on the basis of the operation amount of manipulating means having a steering handle and rudder pedals with which a pilot manipulates the steering mechanism and configured to output the operation amount of the steering handle and the operation amount of the rudder pedals, and the speed set in the speed setting step, a target angular position of the steering mechanism corresponding to them; an actuating step of, on the basis of the actual angular position of the steering mechanism detected in the detection step and the target angular position calculated in the calculation step, actuating the steering mechanism so that they coincide with each other; and the speed setting step comprising to set the speed of the aircraft to the ground speed when the ground speed or the airspeed is lower than a reference speed at and above which it is not necessary to control the angular position of the steering mechanism by means of the steering handle, and to set set the speed of the aircraft to the airspeed when the ground speed or the airspeed is equal to or higher than the reference speed. a detection step of detecting the speed of the aircraft relative to the ground as ground speed and detecting the speed of the aircraft relative to the air as airspeed and detecting the actual angular position of the steering mechanism; a speed setting step of setting the speed of the aircraft on the basis of the ground speed and airspeed detected in the detection step; a calculation step of calculating, on the basis of the operation amount of manipulating means having a steering handle and rudder pedals with which a pilot manipulates the steering mechanism and configured to output the operation amount of the steering handle and the operation amount of the rudder pedals, and the speed set in the speed setting step, a target angular position of the steering mechanism corresponding to them; an actuating step of, on the basis of the actual angular position of the steering mechanism detected in the detection step and the target angular position calculated in the calculation step, actuating the steering mechanism so that they coincide with each other; and the speed setting step comprising to set the speed of the aircraft to the ground speed when the ground speed or the airspeed is lower than a reference speed at and above which it is not necessary to control the angular position of the steering mechanism by means of the steering handle, and to set set the speed of the aircraft to the airspeed when the ground speed or the airspeed is equal to or higher than the reference speed.