Industrial Internet of Things (IoT) enables distributed intelligent services varying with the dynamic and realtime industrial environment to achieve Industry 4.0 benefits. In this article, we consider a new architecture of digital twin (DT) empowered Industrial IoT, where DTs capture the characteristics of industrial devices to assist federated learning. Noticing that DTs may bring estimation deviations from the actual value of device state, a trusted-based aggregation is proposed in federated learning to alleviate the effects of such deviation. We adaptively adjust the aggregation frequency of federated learning based on Lyapunov dynamic deficit queue and deep reinforcement learning (DRL), to improve the learning performance under the resource constraints. To further adapt to the heterogeneity of industrial IoT, a clustering-based asynchronous federated learning framework is proposed. Numerical results show that the proposed framework is superior to the benchmark in terms of learning accuracy, convergence, and energy saving.