All of what others are saying is very true. I know that you don't realize it but you are in a DV relationship and deserve so much better. It will not get better. It is also true that the violence escalates and more women are killed after leaving their abuser (most women are not killed when they leave) as his behavior escalates when he feels threatened of loosing you.
Often, if they can keep you in line without violence, they will not use violence but verbal abuse and control. But when they want what you are not giving or their way, they will not refrain from physical violence. Very classic description you are giving. That said, I think it is wise to talk to someone from a shelter and get your ducks in order. Even if you don't want to leave him right now, it is so important that you have a safety plan in the event that you decide that you do need to go.
I hear you and understand that you have a child, a dog, a home, and it seems like the dream.....Its not... There is life after this and you can find that dream without being controlled. Take it from an old grandma, there is much more to life than material...even the security that it sounds like you feel in a way, as that is not real security, and you can make it on your own. Everyone needs friends and family.