OP, I'm not even going to read all of the replies. before I offer my opinion. Your post shocked me that much...
I am married for 12years, for the first 10 years I had sex with my DH whenever and whichever way he wanted, as if I didn't he would be so angry with me and not talking to me for days until I broke down. Every night I would be so nervous before I went to bed as I know I have to perform, but he was always unhappy with me as I could make more effort and I just didn't know how to please him.
Angry? Made you cry? Nervous?
For a whole 10 years? This is wrong, I'm surprised you stayed with him.
This paragraph makes disturbing reading TBH.
2 years ago I suffered from depression
I'm not surprised, you seem to have been driven to this by your bullying abusive husband (and I use that word very loosly)
now he says I shouldn't go to his bedroom if I am not going to have sex with him as it will be too difficult for him to sleep with me. I know he has very high sex drive and use a lot of porn. But I am sure normal couples will be happy to just cuddle and spend time together?
No, you shouldn't join him in bed, TBH he shouldn't even be in the same house as you!
It is very normal for couples to just cuddle and fall asleep, that's all part of the intamacy of a loving relationship.
My DH says I didn't understand men
Wrong, you don't understand him but he sounds wrong, I don't understand him from what you have told us
it's normal for men
No it's not. It maybe normal from him but then again he sounds abnormal
I want to be close with him but I don't want to go back to the days of the past. I don't know what to do, I love him dearly, but I think what he has done to me in the past was abuse. Please help and any suggestion to clear my mind would be appreciated.
I think you need to get in touch with some womens support groups, you sound like you desperatly need some help and in the long term, you need to think about leaving him. No person should live like this!