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Hybrid stepper motors exhibit significant torque ripple due to high current ripple during subdivision driving. This paper proposes an adaptive freewheeling ratio control method for hybrid stepper motors, building upon the analysis of the current continuation process in the H-bridge driver circuit. The method utilizes a subdivision current command iref, generated by a ring allocator, to distinguish the current continuation mode at each moment. In the fast continuation mode, the real-time difference between the current command and the actual current Δiref is continuously monitored. An adaptive coefficient k dynamically adjusts the duration of fast continuation until the motor phase current rapidly decreases to iref, transitioning into the slow continuation mode. By adaptively regulating the charging time and the proportion of fast continuation time to the total continuation time, this approach enables smooth operation of the hybrid stepper motor under different operating conditions, effectively reducing torque ripple. A simulation platform using Matlab/Simulink is construct and experimental verification is carried out. The results demonstrate that the proposed method achieves lower torque ripple compared to the traditional mixed freewheeling mode control. [ABSTRACT FROM AUTHOR]