Hi vjt5,
So, orgasm struggles are so common that we actually have an entire article on why it might be happening. If you take a look at it, do you see any things that might apply to you?
The Great No-Orgasm-from-Intercourse Conundrum.
Too, it sounds like this is more a of problem for him than for you, since you say you're enjoying yourself during sex, which is ultimately way more important than reaching orgasm. And whether or not someone orgasms isn't an automatic sign that their partner is doing a good or bad job. Have you two talked about the fact you're still getting pleasure from sex without orgasm? If so, is he still mad at himself for "not doing a good enough job?"