Automatic zero setting method, device, system and equipment and readable storage medium

The invention discloses an automatic zero setting method, device, system and equipment and a readable storage medium, and the method comprises the steps: outputting a control current as an instruction current based on a controller, and comparing the processed instruction current with an actual current of a servo motor; obtaining a comparison result signal output after the actual current is compared with the instruction current, and obtaining the duty ratio of the comparison result signal; and generating an instruction current zeroing value based on the duty ratio, superposing the instruction current zeroing value and the control current, and taking the superposed current as a new instruction current. According to the automatic zeroing method provided by the invention, the consistency of zeroing results can be ensured, so that the actual current value follows the instruction current value, and the current control precision of the driver is greatly improved. Meanwhile, the scheme does not need to additionally a