Abstract: In order to solve the problems of severe track wear and unstable power supply system of stage orbiter in curved orbit, a stage dual orbiter was developed based on two-wheel differential variable frequency speed regulation technology, which can run on straight orbit and curved orbit in turn. Firstly, based on the existing stage vehicle structure and existing problems, the stage dual orbiter and dual orbit running device are designed. Then, a two-wheel differential model of the vehicle running in the curved orbit was established, and the stage dual orbiter control system was designed through the model and variable frequency speed control. Through the field test, the two driving wheels of the stage dual orbiter always keep a pure rolling operation without sliding with the orbit, which greatly reduces the track wear. Moreover, the power supply system is stable during the operation, and the maximum error of positioning accuracy is ±2 mm, which meets the design standard of the stage mechanical aircraft.