Abstract: In response to the current situation where the dynamic model of the articulated mine car's large inertia system does not accurately express linear and nonlinear characteristics, and the mainstream application of valve controlled fully hydraulic folding waist steering system cannot quantitatively reflect the steering response, this article combines the characteristics of the typical three-stage body structure of articulated mine cars and its own large inertia system to establish a 12-DOF system for articulated mine cars, which includes longitudinal, lateral, vertical, lateral, pitch, and yaw movements of the front body, lateral and yaw movements of the rear body relative to the front body, and rotational movements of four wheels The dynamic model is designed to solve the relative motion between the front and rear bodies of this type of vehicle under different weight distributions and drastic changes in load, with a focus on the mathematical modeling of variable pumps, hydraulic steering gears, hydraulic cylinders, and pipeline losses in the valve controlled fully hydraulic bending system. Subsequently, numerical simulation models and virtual prototype dynamic simulation models were built on the Matlab/Simulink platform and ADAMS/view environment, respectively. The two simulation models were compared and analyzed according to the S-shaped driving conditions to verify the accuracy and usability of the built mathematical models. The simulation comparison results show that the 12 degree of freedom model of the articulated mining car established in this paper has high credibility and can accurately express the linear and nonlinear dynamic characteristics of the articulated mining car under different working conditions. Finally, in order to further verify the usability of the model constructed in this paper and quantitatively and accurately analyze the steering response characteristics of the articulated mine car valve controlled fully hydraulic folding waist steering system, the WXJ15 wheel driven articulated support handling vehicle was taken as the research object. An experimental environment including an experimental platform, experimental site, and experimental conditions was built to conduct real vehicle experiments and analysis on the dynamic and static steering response characteristics of the articulated mine car valve controlled fully hydraulic folding waist steering system. The experimental results show that there is a significant error between the expected angle and the actual angle when the valve controlled full hydraulic bending waist system is applied, and the error shows an increasing trend with the increase of steering frequency. At the same time, the actual vehicle angle cannot effectively track the expected angle in a short period of time, resulting in poor steering dynamic performance and significant phenomena such as untimely steering follow-up, steering delay, and insufficient bandwidth.