IoT data exchange plays a vital role in supporting various applications and services with massive IoT devices. However, the existence of malicious devices threatens the integrity and reliability of the exchanged data. Trust management has been used to mitigate the impact of malicious devices in centralized and decentralized architectures. However, most of these traditional trust management systems bear computation, storage, and communication challenges. In this study, we propose a semi-centralized trust management system architecture based on blockchain in both single and multiple domains. The IoT devices are centralized organized by cloud servers who coordinately sustain a rating data ledger within each domain based the proposed rotation based consensus protocol in a decentralized manner to support cross-domain data exchange. A computational trust model is proposed by aggregating the direct and indirect trust information, where we elaborately design decay function, recommendation credibility and adaptable weights so as to calculate the trust value of dynamic malicious devices. Finally, we evaluate the proposed system model in various situations through simulation based experiments and compare it with two classical models in the literature. The experimental results demonstrate the effectiveness of the proposed trust model in identifying malicious devices and mitigating the influence of malicious devices.