To solve the problems of low-frequency oscillation, high-frequency step-out and torque decline in the open-loop drive of a two-phase hybrid stepping motor, this paper establishes its mathematical model and designs three progressively optimized control schemes, namely open-loop microstepping control, field-oriented control (FOC) with conventional three-loop PID, and FOC with dual fuzzy self-tuning PID. The motor model and the coordinate transformation are derived, and the three schemes are implemented in Matlab/Simulink. Position-step and 0.5 s load-disturbance tests are carried out for comparison. Simulation results show that FOC decouples the flux and torque components and markedly sinusoidalizes the phase current; after the fuzzy self-tuning PID is introduced into the position and speed loops, the position drop under load disturbance is reduced from 0.20 rad to 0.12 rad, the recovery time is shortened from 0.35 s to 0.20 s, and the overshoot is reduced from 3.2% to 3.0%, demonstrating the adaptability of fuzzy control to parameter variation and external disturbance.