A ball screw assembly and methods for controlling the same in which the degradation of preload and/or development of backlash is monitored by calculating the axial natural frequency of the ball screw assembly are disclosed. The ball screw assembly includes a ball screw operatively coupled with a motor, and a ball screw nut mounted to the ball screw, such that rotation of the ball screw about an axis of rotation causes the ball screw nut to translate along the axis of rotation. Vibration of the ball screw nut during operation and coincident motor operational parameters are measured using corresponding vibration and motor sensors, and the resulting data is processed to determine an instantaneous natural frequency of the ball screw assembly. This instantaneous natural frequency value may then be compared against thresholds to trigger actions and/or correlated with a backlash value to influence operation of the ball screw assembly.