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.