In 1982, Tsubokawa et al. (J SocNaval Arch Japan 1982: 101, 1982) examined ship maneuvering motion and revealed through numerical simulations that even a ship with unstable maneuvering characteristics could stabilize its course stability when wind or wave disturbance occurs. In this study, we assume that the facts confirmed by Tsubokawa et al. (J SocNaval Arch Japan 1982: 101, 1982) in their numerical calculations are attributed to the random variation of the coefficients inside the equations of motion. Moreover, in the control research field, certain contributions to stabilization and destabilization because of noise disturbance have been reported. Therefore, the existing works of Mao (Syst Control Lett 23: 2709, 1994), Arnold (Siam J Appl Mathemat 46: 427, 1986), and Kozin (SIAM J Appl Mathemat 21: 413, 1971) were explored and extended in this study. Moreover, we uncovered the mechanism of stabilization and destabilization of the ship maneuvering system.

1982 年，坪川等人。(J SocNaval Arch Japan 1982: 101, 1982) 研究了船舶的操纵运动，并通过数值模拟揭示了即使是操纵特性不稳定的船舶，当发生风或波浪扰动时也能稳定其航向稳定性。在本研究中，我们假设 Tsubokawa 等人证实的事实。(J SocNaval Arch Japan 1982: 101, 1982) 在他们的数值计算中归因于运动方程内系数的随机变化。此外，在控制研究领域，已经报道了噪声干扰对稳定和不稳定的某些贡献。因此，Mao (Syst Control Lett 23: 2709, 1994)、Arnold (Siam J Appl Mathemat 46: 427, 1986) 和 Kozin (SIAM J Appl Mathemat 21: 413) 的现有著作，1971）在本研究中进行了探索和扩展。此外，我们还揭示了船舶操纵系统的稳定和失稳机制。