Theoretical and numerical study of Alfvén eigenmodes (AEs) in the sub-cyclotron frequency range explains the observed frequency scaling with beam parameters in experiments across different devices. Global Alfvén (GAEs) and compressional Alfvén eigenmodes (CAEs) are frequently excited during neutral beam injection (NBI) in the National Spherical Torus Experiment (NSTX/NSTX-U), as well as other beam-heated devices such as MAST and DIII-D. These modes are driven unstable through the Doppler shifted cyclotron resonance with the NBI ions and can be excited in ITER due to super-Alfvénic velocities and anisotropy of the fast ion distribution. Numerical models and theory for sub-cyclotron frequency modes, previously developed and used to study the excitation of GAEs/CAEs in the NSTX(-U), have been successfully applied to explain the DIII-D observations. Simulations for DIII-D demonstrate that the modes with ω/ωci ≈ 0.6, previously mis-identified as compressional Alfvén eigenmodes, have shear polarization and should be identified as the GAEs. Simulation results match the observed frequencies and estimated toroidal mode numbers in DIII-D experiments. Good agreement is found between scaling of the experimentally observed GAE frequencies with NBI parameters for NSTX, NSTX-U and DIII-D and scaling predicted by the theory and simulations. The DIII-D simulation results also demonstrate that GAEs can be excited for larger aspect-ratio devices and smaller (sub- Alfvénic) beam injection velocities, therefore they can be unstable in ITER.