You need to leave immediately. Grab your kids things and go. If he's started to verbally abuse them, you have to get out of there as that will permanently damage them.... you have to go for your safety.
What's to stop him from hitting you guys? He obviously has anger problems, possibly some mental instability, and you never can tell how people like that will act.
By PFA I think you mean a restraining order? If so, yes, you can file it. You have to show proof, maybe some pics of beaten walls, broken things. Maybe a witness who has seen this from him, or heard him verbally abuse you and your children. You tell them you are afraid for you and your children, its not likely they'll turn that down.
Before you serve him the papers, be sure to get out and stay somewhere safe. You don't serve the papers, in some states you're not allowed. I'd either have the police do it (some will for free), or hire a server. DO NOT tell him you're filing, get out first.
Please be safe,