Yep, you're making excuses. All over the place. You REALLY are. Your children "love" him, because he is the father they know. NOT because, he is a lovable man. Your children should not be asked to make an adult choice. You asked them about who they are happier with, so they could possible make the decision for you. (Of course, they are going to say both. They are scared of him, but still love him. They aren't going to rationalize like an adult.) You can't do that. YOU have to make the decision. YOU can't expect them to do what you don't want to.
When you're husband punches your child, throws them across the room, throws something at them (and HE WILL)...you will look back and be incredibly ashamed, that you made excuses and didn't stand up for your children. Call a woman's shelter. What choice do you have? I guess you could stay, and CHOOSE to leave your children with an abuser... and hope you don't come home to a bleeding, unconscious, or dead child. I'm sure it will be an "accident" though.
P.S.
Take a look back at your first question on this forum. You were making excuses for him them. You already knew he was pushing them. You have to STOP this. It WILL get worse.