You are sincerely XXXXX XXXXX actually sounds as if this pattern of violent, if not rage-like behavior is worsening. If this is in fact the case, my suggestion would be to consider returning to individual counseling and consider working toward an amicable separation if that's possible. The reason I suggest going back to counseling is to ensure that you have made the healthiest decision for both yourself and for your children. It may even be beneficial to bring your children to a few sessions in order to help them better prepare for that possibility.
As for your question, the answer is no. It's not normal at all for parents and children to have physical altercations unless something is very very wrong with one or the other. It sounds as if your husband is going into a state called "blind rage" where he may actually not be aware of his behaviors, but that certainly doesn't excuse them by any means. The most important thing is to ensure that you and your children are in a safe environment.
Furthermore, as the adult, parents are supposed to be the ones to exercise rationale and judgment which your husband appears to lose once he's in the above mentioned state.
I truly am sorry that you are going through this and I sincerely XXXXX XXXXX I have been helpful in answering your question thoroughly and completely. Please feel free to ask anything further that you may need or if you need clarification on any of the suggestions I've offered you. I hope this finds you well.