选中Storyboard上的指定ViewController，设置identity inspector（身份检查器）中的 Storyboard ID 值。

//        HQLLoginViewController *loginViewController = [[HQLLoginViewController alloc] init];
//        [self.navigationController pushViewController:loginViewController animated:YES];

UIStoryboard *storyboard = [UIStoryboard storyboardWithName:@"Main" bundle:[NSBundle mainBundle]];
HQLLoginViewController *loginViewController = [storyboard instantiateViewControllerWithIdentifier:@"loginViewController"];
[self.navigationController pushViewController:loginViewController animated:YES];

跳转到 Segue 连接的下一个视图控制器：

[self performSegueWithIdentifier:@"ID_step2" sender:self];

参考

• 用代码创建并实例化在storyboard中声明的ViewController
• IOS开发－使用Storyboard进行界面跳转及传值