I use to get up around 5:30 or 6:00 to have "time for myself". It really helped me out to not have anyone bothering me. Now my kids are grown and come home to visit. My husband is retired and around all of the time. I still get up early each morning to have time for myself. It is a wonderful part of the day.
Each person is different so you will have to find out what works for you.
What helped me with raising my kids was to have a schedule. I don't know the age of your kids so your schedule will be determined by their needs if they are really young.
My schedule was something like....my time from 5:30-7:00;
breakfast for the kids at 7:30. Have them dressed by 8:30.
Knowing that my kids were going to be fed by 7:30 helped me to tell them to stay in bed until 7:00 in the morning.
They had schedules in the evening too...
dinner at the same time; bath and story at the same time and early to bed when they were young.
As they got older, they were allowed to stay up later but evening was to be a calm time...not a busy time.
You do need time for yourself. You just have to make it while making sure that your children's needs are fulfilled at the same time.