I don't want to leave my husband, how can I stop him from treating me badly?

I had a difficult childhood. My mother left us when I was little and my father was a careless father. I never had a boyfriend until I was 22. I graduated from university and started working. I met my wife while working at the same workplace and we got married a year later. He knows that I had a difficult childhood and that my mother abandoned us, and he makes fun of this situation. Sometimes he forces me to have sex, constantly humiliates me, beats me and apologizes 5 minutes after doing this.
I don't want to leave my husband, how can I stop him from treating me badly?
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