Modeling motor control

[Ether]

Originally Posted by kamocat

Is output torque still proportional to current, even at reduced voltage?

Yes and no. Depends on what you mean in this context by current and torque.

The average torque generated by the motor is proportional to the algebraic average current, assuming Kt is constant (which in real life it is not, but for most practical purposes it is assumed to be).

The output torque at the motor shaft is equal to the torque generated by the motor, minus the torque losses within the motor.