Your husband was happy to have a wife, but still enjoy being able to do what he wanted/when. Children have come along, and now he's expected to participate in family life. He's not interested in parenting his children, spending time with them or his wife, because it means he can't do what he wants/when. You are married to a selfish and immature man-child.
You feel like a single parent and a maid, because essentially, that's exactly what you are. Your husband sees you as the person to provide him a home, be the default parent, be a maid and provide sex when required.
I've been here, although the children were his (lived with him full-time) and we weren't married. It's a bitter pill to swallow but the sad fact is, if your husband truly loved you, he wouldn't be treating you and your children this way. My ex didn't love me, I was there to provide a service - cook, cleaner, nanny and sex. Your husband is treating you no differently, the only difference is the children are joint and you're married.
If you continue with your marriage, you will still be in the same boat in 5 years or 10 years time. The resentment will be worse, your self-esteem will be on the floor and you will grow not to just resent him but dislike him too. He's not going to change.
Thankfully, I saw the light after 4 years and left my ex. The best decision I ever made.