Hi there, and welcome to DreamViews!
I am not the most experienced lucid dreamer myself. However, through the wisdom and experience shared by my new friends in here i have learned that lucid dreams does NOT affect you normal sleep, you still sleep and dream, you are just aware of the fact that you are dreaming.
Speaking from personal experience however, i have come to notice that after a lucid dream i feel more energized and happy 1-2 weeks after just because of the experience and the joy. 
So I would conclude that it's actually, psychologically speaking, more healthy than normal dreams.
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