用数学模型让金属成形机器人自动调参，实时适应材料变化。

Digital Twin (DT) technologies are transforming manufacturing by enabling real-time prediction, monitoring, and control of complex processes. Yet, applying DT to deformation-based metal forming remains challenging because of the strongly coupled spatial-temporal behavior and the nonlinear relationship between toolpath and material response. For instance, sheet-metal forming by the English wheel, a highly flexible but artisan-dependent process, still lacks digital counterparts that can autonomously plan and adapt forming strategies. This study presents an adaptive DT framework that integrates Proper Orthogonal Decomposition (POD) for physics-aware dimensionality reduction with a Koopman operator for representing nonlinear system in a linear lifted space for the real-time decision-making via model predictive control (MPC). To accommodate evolving process conditions or material states, an online Recursive Least Squares (RLS) algorithm is introduced to update the operator coefficients in real time, enabling continuous adaptation of the DT model as new deformation data become available. The proposed framework is experimentally demonstrated on a robotic English Wheel sheet metal forming system, where deformation fields are measured and modeled under varying toolpaths. Results show that the adaptive DT is capable of controlling the forming process to achieve the given target shape by effectively capturing non-stationary process behaviors. Beyond this case study, the proposed framework establishes a generalizable approach for interpretable, adaptive, and computationally-efficient DT of nonlinear manufacturing systems, bridging reduced-order physics representations with data-driven adaptability to support autonomous process control and optimization.