They rate the amp draw of most vac motors in FREE spin. When there is no load on the motor at all, not even the minor restriction of air going through an empty waste tank.
Now, when most motors are installed into an extractor they usually drop an amp. When the machine is in use, like carpet cleaning, there's an even further restriction when the wand is locked to the carpet. It's the sound that you hear when the motors start to labor. They actually spin up, but because there's less air going through the system the motor doesn't have to work as hard.
So, it's not uncommon for you to drop as much as 2 amps or more per motor when you're actually using the machine. That's why you can run your machine like that.
I would venture to guess that you're very close to your 15 amp threshold with your current set up. You have a fairly small pump that should only draw about 1 amp during use. The rest is left over for the vac motors, but I'm sure you're very close.
You might be able to get away with the new motors running on a single 20 amp circuit, but personally I would split the motors into their own cord. I ran a machine just like yours when I first started. Even though most homes have a 20 amp service, I would often blow a 15 amp breaker because someone would have a small appliance hooked up somewhere. What happens when your on a job with the new motors and you keep blowing a breaker that you thought was a 20 amp circuit? You're not going to be able to find a 30 amp somewhere...
I did what you wanted with the bigger motors but added another cord, and no more blown breakers.
You might also invest in a small amp meter. They can be very handy when you start modding your equipment. If you do that, you can rest assured that your new upgrades won't start causing you new problems.
Good luck

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