The invention provides a two-phase hybrid stepping-motor closed loop control method. A control system related to the method comprises an encoder, a current collector, a mathematic model, a Kalman observer, a fuzzy adaptive controller and a vector controller. The method comprises the following steps that stepS1, through the encoder, an angle and an angular velocity are acquired; and through the current collector, a current is acquired; stepS2, the current passes through the mathematic model, an output moment is acquired; stepS3, the angle, the angular velocity and the output moment carry out data fusion processing via the Kalman observer so as to acquire an angle feedback value, an angular velocity feedback value and an angular acceleration feedback value; stepS4, an angle expectation value, the angle feedback value, the angular velocity feedback value and the angular acceleration feedback value pass through the fuzzy adaptive controller so as to acquire an Q shaft current expectation value; and stepS5, during a motor operation process, a D shaft current expectation value maintains to be zero; and the Q shaft current expectation value, the D shaft current expectation value and the current acquired by the current collector pass through the vector controller, and a controlled quantity is acquired and is used to control the motor.