I used to feel your pain and sometimes still do, but it is definitely much better. I self-diagnosed myself as having anticipatory arousal (like drs and firefighters on call have). It sounds much more fun than it is! Anyway, it is like you will yourself to a higher state of consciousness so you can hear if someone needs you. Even as my kids got older, I could not stop the busy-headedness - everything from stupid songs, making lists, to worry. Many nights I felt like I never even slept. It got to the point where I dreaded going to bed.
I tried the prescription drugs and did not like how I felt on them. Tylenol PM was OK for a bit. Also, I still sometimes use a natural formula from a health food store (calcium and magnesium, melatonin, and other things are good to enhance sleep) as well as lavender scent.
Believe it or not, what helped me the most was a magnetic sleep system (rubberthane, magnetics, infrared for temp control)from Nikken. I knew I was sleeping better when people were talking about a horrible wind storm and my husband and I were clueless. I also found I was better rested even with fewer hours of sleep because I was getting into the REM cycles easier - even started dreaming and remembering my dreams again. I found it also helped with my arthritis which also contributed to not being able to sleep soundly, plus my husband doesn't snore (or at least I don't notice it). I can email you additional info on these technologies along with research studies if you are interested. Best of all, no drugs are involved.
White noise is also important to my sleep too. I have a great HEPA air unit that gives off negative ions.
Also, get the electromagnetic fields out of your bedroom. No TVs, cordless phones, alarm clocks, computers, etc. These are known to disrupt your sleep patterns. A dark room is best for your health too.
Know there is hope. I'd encourage you to try a variety of natural solutions before you go for the drugs. There are lots of tips on the internet including steps to take prior to bed (like not being on the computer like I am) to maintain regular sleep habits.
Let me know if I can share any additional info to help you.
Take care,
S.