Articulated device is the component that transfers various loads between adjacent vehicle bodies of virtual track train. In the actual application of virtual track train, the failure rate of the articulated device is high and the service life is short. In this paper, taking the three module with six axis virtual track train architecture as an example, based on the extended Ackerman steering tracking strategy and optimal course guide strategy, a virtual track train dynamics joint simulation platform is established through SIMULINK and SIMPACK. Through dynamic simulation analysis, it is found that the tracking effect of the optimal course guide strategy is superior to the extended Ackermann steering tracking strategy, but no matter which tracking strategy is used, the lateral stiffness of the articulated device has a certain impact on the tracking performance, dynamic performance and articulated device load of the virtual track train. When the lateral stiffness of the articulated device is 5 \(\times\) 104 ~ 1 \(\times\) 105N/m, It can basically achieve the balance and consideration of tracking performance and dynamic performance, and reduce the lateral load borne by the articulated device.