OP, you are living in a dream world if you think that staying in a relationship will create or maintain a happy homelife for your DC. Children know when things are wrong, very wrong. Without words, without fully understanding, they know, they sense, they feel it. And children, even teens, blame themselves.
Every day they spend in a home with a man who emotionally abuses his wife, who belittles them and treats them badly (EA towards them, btw), and with a mother who is treated that way, who seems to have mounting tension and fear and upset every few weeks over something they don't understand but get very worried and upset about nevertheless, is a day that further guarantess they will be damaged, forever. That they will be future abusers or victims. He is abusing you, but both of you are teaching your children that normal = man abusing his woman, woman taking the abuse.
No matter how lovely you are, how nice you make things for them, no matter how much you subsume your own pain and needs and out on a brave face, no matter how much you lie and make excuses and minimise to them, to make everything seem as nice and normal as possible, it is not working. They are being damaged and abused just by the mere act of having to live with a man like this, even if they don't know about the sexual abuse of you. And it is rape and sexual abuse, even if you give in.
If I was an adult or teen and found out that my mother was doing or had done this, i would not thank her for prostituting herself, for allowing herself to be raped and degraded, all to keep me in a home with a man who was a bastard towards me too. Apart from my hurt for her, it sould mkae me almost suicidally, unbearably guilty that she had undergone that for me. Martyrdom, allowing your self and body to be defiled, is not doing them or you any favours.
I am struggling to conceive of any situation, however extreme, where you wouldn't be able to leave a man like this. Any man, in fact. If the reason is because you fear he would be dangerous or something, then that is paradoxically even more reason to go.
You are doing the wrong thing for the wrong reasons. And I second what another poster upthread said about your counsellor. She would be horrified that you believe that skills you learnt with her are helping you do so. And if she condones this, you need to stop seeing her, because that is messed-up and unprofessional beynd belief.
Please leave,please please. Your thread terrifies me.