How to choose right PWM frequency for 3 phase ac motor

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There's the fundamental frequency and the carrier frequency. The carrier frequency is several times the fundamental. There's no particular formula. It depends on what's feasible for you to work with. A benefit of a faster carrier frequency: smaller L and C values are sufficient to filter it out.
 

look at the igbt's you will be using - read the data sheet carefully - compute the worst case conduction and switching losses at 20kHz - see how the switching losses go up at the freq goes up, 30, 40, 50 kHz this should be your guide ...

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a lot of large motor drives are only 5kHz ...
 

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