When I was younger, I remember being able to have lucid dreams on demand, all the time. As I got older, for whatever reason I could no longer do that. I do have them spontaneously on the rare occasion, but I have not mastered how to have them all the time. There are several techniques you can use to make yourself realize that you are dreaming. Here are ta few I have come across while reading on lucid dreams over the years.
1) Is always question shit that is out of the ordinary, or impossible. So when you see those in your dreams, always ask yourself if it's a dream.
2) The watch trick. This you have to start implementing in your daily life so it becomes second nature. In your dreams your subconscious will make you use your habits in your dreams. So what you do, whenever you check the time by looking at your watch or a clock, always look back at it a second time and make sure that's really the time. If you are awake, the time will be the same. If you are dreaming the time will not be the same. For example, if you look at your watch in your dream and it's 3:15pm when you look again it may be 5:00pm.
3) Daily Affirmations.
There are many sites you can find that will provide you with a lot of info on lucid dreams. I may have some pdf books on it if you want. Binaural beats help calm the mind or put you in the right state of mind to induce a lucid dream. But it's just an aide, it doesn't actually cause the lucid dream to take place.
Being on this topic, what do you know about astral voyage/projection?