Motor speed-based anti-pinch control apparatus and method with endzone ramp detection and compensation

The present invention relates, in general, to control apparatus for motor driven closures which having obstacle detection capabilities, and more particularly, to motor controls with obstacle detection capabilities for moveable closures used in vehicles. A powered panel control apparatus and method is used with an electric motor having a rotatable armature. The control detects and generates time periods between the rotation of the armature over a predetermined constant amount of angular rotation. An average time period is computed over a predetermined number of time periods and compared with a threshold time period to determine if an obstacle is present in the path of movement of the panel. Transient counts are accumulated for increasing average time periods over a number of time period samples to detect an obstacle. Endzone ramp compensation adjusts a threshold for the initial entry of the panel into a seal.