Instead of using the system.xml to create groups and sections in a static way I want to create a section and groups in the code. Pls take a look at the screenshot:

Whats shown on the screen was done in the modules system.xml, now I want to do that directly in the code. I also found the place where the form is being built, its in app/code/core/Mage/Adminhtml/Block/System/Config/Form.php in the initForm() function. There it reads the sections and the inner groups. The problem I have is, that I dont know how to proceed from here. Maybe somebody has done a similiar thing or can point me in the right direction. I guess part of it is creating a Mage_Core_Model_Config_Element by myself?
This way to use system/config screen is not the Magento standard.
If you want to keep stay in standard, you have two options:
Use the frontend_model property of groups in your config.xml
Then you are able to do whatever you want with the provided block, create dynamically as many fieldset as you want, adding custom fields, etc.
This block must extends Mage_Adminhtml_Block_System_Config_Form_Fieldset and if you want your fields to save data in core_config_data, they will need to have name=’groups[your_group][fields][your_field][value]’ (Magento will take care of the your_section part for you).
Your fields must read data theimselves too, just put that in their value attribute.