Habit, habit, habit. Plus going to bed a little earlier than one might like to the night before. That's hard when you're raising children, but it sure helps if you can do it.
About the habit business: I have learned that if you have to wait for all your ducks, and all everybody else's ducks, to line up before you can be cheerful, all your days are going to be miserable. I have a worry habit that I have to fight all the time (you know the difference between *solving* things and *worrying* about things!). Learning how to have a positive attitude has actually helped me to fight the worrying; it gives me more energy to get up and go in the morning. At the very least I have enough energy all day that by that night my body says, "Move away, worries - I'm sleepin' tonight!"
This is going to be a long, rambling answer and I apologize in advance.
Some years ago I started doing this: When the brain wakes up, I usually pray, first thing. You go to church, so you've heard this. God has graciously been up all night taking care of you and your problems, even while you've stewed. Tell God good morning, and thank Him for the first couple of things that pop into your head. You have a lot to choose from.
Then. immediately, I get my feet on the floor, get my robe on, and make the bed before I can even *think* about getting back in it and escaping from the day.
Can you can make a little wiggle time (say, five minutes) in your early-morning schedule? Things don't always run smoothly. You've noticed? At least I find it so. I have rather an automatic routine for getting dressed and the other basic things so I don't have to think too much about them. About the only thing that will really deter me is, um, sitting down to check my e-mail and finding myself answering a Mamapedia question this early in the morning.... :^/
A few other thoughts: Refuse to allow the weather to tell you what kind of morning to have. Look out your window and say (out loud, if you dare), "Oh, boy! It's raining cats and dogs!" Yes, you're going to feel stupid. But you're working on a new habit here. Talking that way in the morning is actually no stupider than the way I look doing Zumba at the gym.
Say, "Good morning!" in a cheerful voice to everyone in your family, no matter whether you feel cheerful and no matter what their responses are. Saying, "Good morning!" can actually help make a morning good. I've remembered that ever since I first read "Those Happy Golden Years" by Laura Ingalls Wilder when I was a kid.
If you wake up with worries, make them wait. You have other things to do when you get up. If you don't have to send for an ambulance when you're still in bed, the worries will be happy to wait at least until your day has started.
Eat breakfast! Your body needs it. Figure out what you can fix quickly enough to suit you but that will nourish your body. Don't listen to the "mom" excuse that it's selfish to do this for yourself. That's worrying.
If nightly exercise works for you, do it. If you want to switch to early-morning workouts, it's quite a switch. My husband has taken to getting up before 5 a.m., going to work out, coming back, eating breakfast, changing for the office, and leaving again by 7:30. But he's in bed by 8 p.m. and he doesn't have little ones to tuck in.
But mostly getting unshackled from all the worries and being positive and energetic in the morning is a HABIT you learn, just as being fretful and grumpy is a habit you fall into. I recommend a book called "See You at the Top" by Zig Ziglar. I don't recommend too many books on this site. When you start to look through the pages you're going to think, "Man, how corny is this? It's positively DUMB!" But, amazingly, the corny stuff works for changing the attitudes. And having a better attitude is related to having better energy. My opinion is that worrying, stewing, and hanging on to things cost your body a lot more than they're worth.
http://www.ziglar.com/newsletter/?p=855
http://www.forbes.com/sites/johnbaldoni/2012/11/29/zig-zi...