Oh CityFarmer 
Well done for calling WA, it's a huge step. You are very strong to hold that last boundary. You are absolutely right - none of this is acceptable, not one single one of the evil things he has done to you, but hitting you in front of your little children - this man is a dangerous animal and if he was a dog he would be put down. You do not deserve this, your children do not deserve this. He is only getting away with it because he can.
Don't be scared of your life being turned upside down. By the sound of it, the only way is up.
Can i suggest you do some positive visualisation of what your future might look like? Not the messy bit between here and there, but the other side of the bank, say in 6 months time.
Imagine a home of your own - maybe not a huge home, but a place with enough room for you and your three beautiful children. Imagine the pictures you would want to put on the walls, the mess you might choose to just leave for a few days, where you might want to put the furniture. Imagine all 'his' things not there. Imagine him not there, never having been there, never going to be there. Imagine him not even knowing your address.
Imagine coming home from the school run with your children. Imagine making tea for them, your eldest 'helping' in the kitchen, your little ones playing, making as much noise as they like without the hairs on your neck rising that he's going to get annoyed. Imagine choosing food you and they like. Imagine his key never turning in the door. Imagine when they've gone to bed, you would have time. Time to just be. To do whatever you like, or nothing if you like. To try and remember who you used to want to be before he took you over and start making your own way towards that, in your own time.
Imagine how free you would feel.
There might be money worries, you might be very busy trying to stay on top of things, you might sometimes feel lonely.
But that sick, scared, eggshells feeling, that feeling of being hated and treated with contempt by the person who should love you most, that knowing that whatever you do will never be enough to save you from the eventual blow up, the inevitable 'next time', the constant scrambling trying anyway. That would all be gone. Forever.
People WILL help you get there. This is not a wild fantasy. It is a normal life, and it IS waiting for you on the other side. Tell your family. Tell the police. Reach out. There will be hands reaching out to take yours and lead you through the hard part. But your children need you to lead them with your other hand, and no-one can do that for them except you as long as nobody else knows you, and they, need that help.
Please please take care of yourself. You deserve it.