to you mama!
I know what you speak of.
May I ask how long have you been in this situation when you felt you have to juggle many things?
The reason I am asking is that - it settles. No, it does not all of a sudden become calm and serene (I wish!), but we develop a certain rythm, iykwim.
However if you have been at it for years and still feel like you are going crazy - you might have too much on your plate!
To answer how I keep my sanity... many ways.
Exercise.
Sleep.
Get out - all by yourself, or with friends, even if for an hour to change the scenery.
Baths with candles around help me. Or just candles when I have a chance to have my 1/2 glass of wine at the end of a long day.
Music (now rediscovering the importance of it)
I write a "plan for the day". One at work, one at home on a dry-eraze board. Then cross stuff out as it gets done. It helps not to keep all that in your head.
And another one you probably don't expect - slack off sometimes. AKA - give yourself a break. Delegate. Kitchen does not have to be spotless - you sanity is more important. Trash can wait until your DH gets to it. Once in a while TV dinner is OK. Once in a while a DVD to keep kids entertained is OK.
And may be heart-to-heart talk to DH is in order. Yes, you feel "out of it". Can he help? Maybe just by listening and understanding? May be by picking up something to give you that precious 15min breather?