@Lemondrizzlegin
Just because he called you nasty names, doesn't mean it was ever true !
I'll bet he's spent years putting you down, insulting you and making you think you should feel 'lucky' to have him 
Men who do this already know that if he didn't keep you 'down' and 'on edge' and 'upset' by doing nasty things every bloody day, sometimes 'obviously' and sometimes more 'subtly', but always 'chipping' away at your confidence, you'd have realized long ago that it's you who are far too good for him !
It was always done on 'purpose', and he 'zero'd in' on your 'insecurities' at the very beginning of the relationship, and has continually drip, drip, dripped his poison steadily ever since.
It is always done to deliberately make you lose confidence in your looks, your sense of 'reality' and in your judgement and abilities. None of it was ever true !
Imagine you're hearing your story from a friend.............she's always saying it's her fault that her H 'doesn't love her', it's her fault her H went off shagging another woman, it's her fault he's 'embarrassed' to be 'seen out' with her, it's her fault that her marriage has broken down, it's her fault that she couldn't 'love him how he needed' etc etc
Are you seeing just how impossible that whole scenario is ?? 
How on earth could everything he says or does always be her fault ?? I mean seriously ?
Unless she actually had her hand shoved up his arse like a bloody glove puppet, controlling his every thought, speech and actions, how the actual hell could it be all HER fault ?? It's impossible !
I know you still have feelings for him, but you must put that to one side, because your kids deserve better as well as you So if you're still struggling with a self destructive desire to hang onto this sad and toxic 'relationship', think about how your children deserve a happy home and a happy Mum, and they could never have that with him !