Poor stability and low precision of synchronous control caused by the traditional controlling system ofwinding machine，which is composed of industrial controlling computers and motion controlling boards，is prevalentin the production of composite materials． Establishing a mathematical model of the rotary body based on the spacecoordinates by tracing the location of electronic cam and the direction of movement of the nozzle are presented Basedon the embedded motion controller，we develop a control system of 4- DOF( four degrees of freedom) winding ma-chine． This system can complete the planning of the trajectory of the guide eye as well as generation and output ofG- codes automatically，improving the reliability of the system． The output of the G code increases the openness ofthe control system． Trolley and boom，yarn spindle of comb synchronized with the motion control are high precisionand good reliability． This system achieved a variety of specifications container winding．