Welcome to HCM
We understand your concerns
I went through your details. I suggest you not to worry much. What you should do is to have intercourse. Just before your orgasm, remove your penis from the vagina and then you can collect the semen using a small vessel. Another way is to learn masturbation
while sitting naked with your wife and fondling her breasts and vagina. The procedure is very easy and you do not have to try hard to have erection and ejaculation. Don't try. Do it.
Please post a direct question to me in this website. Make sure that you include every minute details possible. I shall prescribe some Sexology related psychotherapy
techniques which should help you cure your condition.
Hope this answers your query. Available for further clarifications.