Method one:
WIPE system/cache/dalvik from twrp.
fastboot flash boot boot.img
fastboot flash system system.img
fastboot flash userdata userdata.img
fastboot flash vendor vendor.img (from factory image, because there is no vendor.img in the directory)
When it boot, it stuck at android Logo forever.
Method two:
WIPE system/cache/dalvik from twrp.
fastboot update hammerhead.zip
When it boot, it stuck at android Logo forever.
Method three:
Install the hammerhead.zip from twrp, i got the log:
Installing zip file '/sdcard/hammerhead.zip'
Checking for Digest file...
Skipping Digest check: no Digest file found
Invalid zip file format!
Error installing zip file '/sdcard/hammerhead.zip'
updating partition details...
done