Theoretical and preliminary experimental studies of X-ray pulsar-based navigation have been carried out at home and abroad， but there are still some defects such as lack of credible experimental verification and imperfect theoretical model. In this paper， a method for simulation of X-ray pulsar dynamic signals is proposed， which can be used to generate the pulsar dynamic signal based on X-ray pulsar properties and the spacecraft orbit model. An X-ray pulsar simulation source and the whole ground test bench are developed. Static and dynamic ground simulation tests are performed. Based on the parameters of the pulsars PSR B0531+21 and PSR B1937+21， the pulse profile similarity obtained with the static simulation test is 99.5% and 99.1%， respectively. Dynamic simulation tests of the two pulsars at the circular orbit height of 200 km are performed. Deviation of the test results and the theory results of the pulse period is 38 451 ps and 350 ps and the pulse profile similarity is 99.8% and 99.9% when the timing coordinate transfer to SSB， for PSR B0531+21 and PSR B1937+21， respectively. The test bench system can realize orbit maneuver simulation based on the Hofmann model. The ground experiment system has stable performance and can meet the needs of different types of simulation experiments.