How did the slave masters make sure the slaves worked hard?

The masters make the slaves a lot of work, and would beat them if they didn’t work hard enough. The masters would always treat them badly and would make them work in the very morning basically, never give them enough sleep. If they were lucky they would get food but most of the time they wouldn’t. They could be separated from their families and would always have to ask their master for almost everything. They would make them work in salt like step in salt. They would have cuts and that would hurt their feet and make it like, sting kind of feeling. Overall, it’s pretty tough to live through that, and if they tried leaving from their masters they would of either escaped or would’ve been brung back and beat.