Electromagnetic rail propulsion (ERP) presents several problems, including nonuniform distribution of magnetic field and force on the armature surface, severe erosion of contact surfaces, and insufficient propulsive force. While current optimization methods include external devices or enhanced power supply, etc. These methods to increase thrust tend to exacerbate ablation. This article introduces an armature-rail articulated guiding electromagnetic propulsion device. The device improves propulsion efficiency, while suppresses erosion by controlling the magnetic field to increase the contact pressure on the armature-rail surface, all without altering the excitation power supply or requiring external devices. To achieve this, a multiphysics field-coupled model was constructed. The key parameters, including inclination and arrangement, were analyzed. We delve into the self-control magnetic field mechanism and determine a multifactor optimization scheme to regulate contact-surface heating. This scheme inversely co-optimizes friction and contact pressure on the armature-rail surface. With the implementation of this device, there was an 18.7% increase in propulsion effectiveness, a 2.95 reduction in uniformity, and a 10.3% reduction in ablation. These results demonstrate the device's ability to simultaneously improve propulsive force, suppress erosion, and ensure uniformity of armature's magnetic field and force, successfully mitigating the contradiction between the demands of high-speed propulsion and the need for efficient electrical contacts.