X-ray pulsar navigation is a complete autonomous navigation system, which has broad application prospects. Because of the huge cost of the navigation system, the implementation of ground simulation system is essential to the application of X-ray pulsar navigation. At present, most of researches on the semi physical experiment system are static. The aim of this article is to develop the dynamic simulation experiment system as well as its performance test. Specifically, this system consists of the dynamic signal database, X-ray simulation source, vacuum system and detection system designed for different science purposes. The core component of the X-ray source is the gate controlled X-ray tube, which can simulate the pulse profile of arbitrary waveform. The detecting system is based on the silicon drift detector with high time response capability. It uses trapezoidal shape for signal processing, and the timing resolution of the detection system is better than 2 s. In addition, the dynamic signal generation method is given by analyzing the time transformation model while the SINC interpolation method is provided to generate the dynamic pulse profile. Finally, the spacecraft revolving around the earth for a circle and receiving a pulse signal of Crab is simulated. In the simulation, the orbital radius of satellite is 6578 km and the orbital period is 5400 s. The Crab pulsar is selected, and the pulse period is 33.4 ms, the number of photons received by the detector is 200 per second. As a contrast, a set of static experiments is also performed. The correlation coefficient between the cumulative pulse profile and the standard pulse profile is 0.9953. However, the correlation coefficient decreases gradually, from 0.9094 at 300 s to 0.4080 at 5400 s, in the dynamic experiment. Then, the pulse period is searched from the arrival time of photons. The periodicity of the pulse signal is sinusoidal when the search period is 60 s. The change rate of photon flux is less than 2\%, and the influence on the period search is negligible. The variation of pulse period is consistent with the motion law of spacecraft, which indicates that spacecraft motion is the dominant factor in time conversion. Finally, the arrival time of photons is transformed into the time at the solar system barycenter, indicating that the correlation coefficient between cumulative pulse profile and standard pulse profile is 0.9882. The result shows that the simulation system can simulate the X-ray pulse signal received by the spacecraft in orbit, which can provide the experimental basis for verifying the navigation algorithm and calibrating the detector performance.