In a motor drive device 120, a phase compensation amount calculation unit 110 calculates a phase compensation amount Δθ for compensating a voltage phase θv* when a control mode is switched in a control selection unit 90. The control selection unit 90 outputs the three-phase voltage command Vuvw* according to any one of the plurality of control modes based on the modulation factor Kh*, the voltage phase θv*, and the phase compensation amount Δθ. A PWM control unit 100 outputs gate signals Gun, Gup, Gvn, Gvp, Gwn, and Gwv based on the three-phase voltage command Vuvw* and a rotor position θd. The inverter 20 has a plurality of switching elements, and controls the plurality of switching elements based on gate signals Gun, Gup, Gvn, Gyp, Gwn, and Gwv to drive the AC motor 10.