Aiming at the instability of the weaving angle of the fabric during the weaving process of the mandrel with large curvature and complex

proposed an optimal control method of weaving traction trajectory based on offset compensation model. Firstly

based on the convergent distance transformation of the unstable braiding stage

the prediction model of preformed braiding points is established. Secondly

the mandrel is discretized

the axis of each discrete mandrel is adjusted vertically through the dynamic braiding point plane

and the braiding feed length of each mandrel is corrected. The mandrel attitude is adjusted by using the unstable braiding stage in the process of changing cross-section of the mandrel

and the traction speed in the unstable stage is adjusted to reach the stable braiding state faster. The experimental results show that the trajectory optimization method can improve the preform weaving quality.