Your husband sounds like my father...
He loves my mom. He really does. I don't think he would know what to do without her. But he is arrogant, has an opinion on everything, no ability to empathize, constantly belittles everyone around him, assumes the worst about every situation - believes everything that goes less than perfectly for him is because of someone else's malicious intent - and is, in general, very unpleasant to be around.
(He's also a great dad, smart man, caring in his own way, blah, blah - no one's all one thing or another, and I don't hate him, but he is, to put it simply,
difficult.)
It was very painful growing up around him - not because he didn't love me or because he hurt me on purpose (he did and he didn't, respectively), but because his, for want of a better word,
energy is so prickly and hurtful and painful to be around. He's like a toddler - not a happy, attached, well-adjusted toddler, but a neglected, CIO'd, unloved toddler.
He's been diagnosed as having schitzoaffective disorder, and possibly Aspergers. That is, there's a
reason he's so screwed up. Is this possibly true for your husband also?
I offer this not as an excuse for him, but as a possible avenue to explore that would offer him a chance at real change, whether or not you ultimately decide to continue living with him.
Just wanted to put that out there.