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Designs and implements a multi-channel stepper motor control system based on FreeRTOS, which is used in small pipeline. The system control circuit uses STM32F4 series microcontrollers, combined with small power stepper motor driver A4984 and embedded Ethernet controller W5500, completes the hardware design, Design a host computer module that can control and change the motor pulse start frequency, maximum frequency, motor rotation direction, total motor pulse number, acceleration pulse number and deceleration pulse number in real time.. An improved S-type algorithm is added to the motor drive to effectively optimize the phenomenon of step motor out-of-step and overshoot caused by the excessive increase of the initial speed of the stepper motor. In the verification process of the actual project, it is proved that the system has good stability.