Divorce - exhusband is manipulating the minds of our kids?

I am divorved and whenever my kids are with my ex he manipulates them into believing that all of their saddness is a result of the decision I made to leave. He beat me regularly but he strangely enough agreed not to beat me infront of the kids. When they went to bed he would take me out to the garage and beat me angrily. So they never saw and still know nothing of the abuse I suffered for years. If they had the evidence they would not be so easily manipulated but they think I am lying about it. When they return from their custodial visit with him they are filled with his anger and resentment for tearing apart our family. It takes two days before things settle down enough to even talk. The oldest male has taken on an image of his father and tries to rule the house and threatens me with the same violence his father did. I know counseling is part of the soultion, but I have no money since it is all tied up in court issues and I gave up alot just to get away. Is there anything I can do myself to counter that which he is doing? Is it possible to stop this at all? Anyone else ever go through this? Thanks in advance for your help!