For the benefit of those who read but don't post, if you'd call the police when he was threatening to be, or was being, violent towards you, he would have been removed from your home and you could have sought occupation and non-molestation orders, to keep him out and keep him away from you.
In addition, as a victim of dv, you may have been eligible for legal aid in divorce and child arrangements proceedings.
If he should get wind of your plans or become violent, or you feel threatened by him in any way, I urge you to PLEASE please please call 999 and let the police remove him. If the dc are in the house at the time they attend, the police will make an automatic referral to SS - rest assured that you have nothing whatsoever to fear from this - and will hold a MARAC to determine the level of threat your h poses towards you.
As it is, all I can do is continue to encourage you to make contact with your local WA service and let them help you formulate a plan to leave safely when a suitable refuge placement becomes available for you and your dc.
Refuge placements are not time limited and the address will not be divulged by the police to anyone who enquires after your whereabouts, including your h who will simply be told you/the dc are safe should he report you missing.
With regard to your dogs, I suggest you post on The Doghouse board with a view to finding temporary foster placements for them. As a refuge placement will be some considerable distance from your current location, you may wish to wait until you have some idea of where you'll be placed so that you can drop the dogs off on the way and/or see them regularly during your stay,.