Incommensurate magnetic structures like Helimagnons and Skyrmions are currently intensively studied. Due to their large periodicity they often show very low-lying excitations, where most of the interesting physics is taking place below some meV. The cold-neutron three-axis spectrometer MIRA is an instrument optimized for such low-energy excitations at small Q transfers. Its excellent intrinsic resolution makes it ideal for studying incommensurate magnetic systems. Here we will present several examples for the dynamics of such structures, which have been measured with MIRA.