With the development of terahertz (THz) wave research, the demand for controllable THz sources is increasing. How to obtain the regulated THz waves has been one of the research hotspots and key problem in the field of THz science. There have been researches in which the resulting THz wave is modulated by changing the wavelength, relative phase, energy, or chirp of the laser produced by a two-color laser. In this work, we establish a three-dimensional theoretical model of THz wave generation and subsequent propagation induced by two-color laser. And we investigate the influence of chirp modulation of different laser on THz wave by chirp modulation of the fundamental wave (FW) and the second harmonic wave (SHW) of two-color laser, including THz wave amplitude, THz wave center frequency and spectrum width, and analyze the physical mechanism of related phenomena. At the same time, the effects of different orders of magnitudes of laser chirp parameters (femtosecond and picosecond) and initial phase of laser pulse on THz wave parameters are also studied. The results are shown below. 1) In the two-color laser, the chirp of FW mainly affects the shape of THz wave when the initial phase is unchanged. The chirp modulation of SHW can cause the amplitude of THz wave to change significantly, and affect the center frequency and spectrum width of THz waves. 2) In the case of laser pulse width of femtosecond order, 40 fs is taken as an example. When the chirp parameter is of femtosecond magnitude, the chirp parameter has a great influence on the THz wave generation efficiency of two-color laser filament. At the picosecond magnitude, the chirp parameter has a weak effect on the THz wave energy and mainly affects the phase of the THz wave. 3) The initial phase of the two-color laser can aid in chirp modulation of THz wave to optimize the energy generated. 4) The initial phase of two-color laser can assist in the process of chirped laser modulation of terahertz waves to optimize the energy generated. Our research shows that the chirp modulation, as a controllable parameter, has multiple regulation effect on the properties of radiated THz waves. The related research results provide a new idea and basis for studying the generation and regulation of THz waves.