Thanks Hilary, my problem was when i create data connection to share point list that there are look up id there , it did not not show that field,
the value of that look up id in share point list was like (155;#155) or (Lookup id;#Lookup id) .
any way tried to create another column in share point list and with share point designer make the value of new added field for example (155) without (;#), after update data connection i could see new added field and use that for filtering in master/detail form. now my problem has been solved but still I do not know what is the best practice.