I got out. I never thought I could.
I got in touch with a Womens refuge far away from where we lived, in a completely random place.
Then when the time was right my dc and I just up and left, we had nothing at all.
The refuge helped out with benefits, food, clothes etc.
It wasn't easy, it still isn't, and I'm a year down the line from leaving.
But now I can look back and see what a terrible situation I was in and how far I have come.
It really was the best thing I ever did for my dc and for me.
YOu have the strength to get out, you really do, what you don't have is the confidence because he has taken it.
Please email or call womens aid, they will give you advice about contacting them safely too.
Good luck op 
You deserve so much more than the life you have right now.