Let $\mathcal{F}\subseteq{[n]\choose k}$ be a $t$-intersecting family. Define the $t$-covering number $τ_t(\mathcal{F})$ of $\mathcal{F}$ as the minimum size of a subset $S$ of $[n]$ with $|S\cap F|\geqslant t$ for each $F\in\mathcal{F}$. In this paper, we characterize $\mathcal{F}$ for which $|\mathcal{F}|$ takes the maximum value under the condition that $τ_t(\mathcal{F})\geqslant t+2$ and $n$ is sufficiently large, thereby generalizing two results by Frankl.