So let's review.
Every moment of your time is closely controlled by him.
He's severely beaten your young daughter.
He's beaten you several times and threatened to do so more if you don't submit to him more fully.
He frequently rapes you.
How much longer do you have to stay? What exactly is compelling you to stay in this violent and dangerous situation?
Have you at least called the helplines? If not, why not?
Oh, and you are totally deluding yourself about the kids. My mum thought we didn't know anything, weren't affected but when things are as abusive as you are experiencing then there is absolutely no way you can hide it from them.
His control of you, some of the violent episodes you described in the previous thread were in front of the kids and other members of the public. And of course, the violence towards your daughter affected her, didn't it?
I now have an anxiety disorder that I can trace directly to growing up in a house where everyone walked on eggshells, waiting for the next explosion from the tyrant cowering in fear. Your kids are suffering from that right now. Don't you dare use the kids as an excuse not to get leave, they are suffering and growing up in a twisted sick house which I guarantee you will warp and scar them for the rest of their life unless you wake up and walk out.