Can we help you get an erection? That's an interesting question to pose... Probably not. There are only two potential reasons for not getting an erection. The first is psychological, and you seem adamantly opposed to that possibility. Still, you should consider that maybe it's nerves. Maybe you feel guilty about sex subconsciously. Maybe it could be a number of psychological problems that, frankly, we aren't capable of dealing with.
Being so strongly opposed to the idea that it is a psychological problem, the only other option, and the much more frightening one, is that it is physiological. There could be something physical that is preventing you from achieving an erection. A good question to ask yourself is, "Am I doing anything consistently that would prevent me from having an erection during sex?" (Jumping to the top of my mind for this would be drugs, be they prescription or illegal.) The other option would be a disorder like ED, for which you would need medical help.
Truth be told though, if you can get an erection under every circumstance except for intercourse, then it would appear to me that you have some latent psychological cause. It is the only thing that explains to me your situational erections. You can try to overcome whatever is blocking you independently, or with help. Sex therapy is a booming field. Sure, it might be hard for you as a teenager to find and pay for a sex therapist, but I'm sure if you just tell your parents that you are having erectile issues when you try to have sex with your girlfriend, they'd be happy to pay to have you fixed (pun intended).