Lens cleaning systems, drivers and methods to detect faults or degradation in a lens cleaning system, including a controller to control a lens transducer drive signal frequency to vibrate the lens in a frequency range of interest and measure frequency response values according to driver feedback signals, and to compare the measured frequency response values to baseline frequency response values for a healthy system, and to selectively determine the existence of a fault or degradation in the lens cleaning system according to dissimilarities between the measured frequency response values and the baseline frequency response values.