Chances are that there is a DC offset in the amp that drives the speakers, so that the speaker coils get yanked one way or the other when the amp gets turned on. In the old days there was a zero offset pot. Nowadays one thing to try is to repeatedly plug 'em in and out to clean up the dirty contacts. If the speakers are accessible, a high pass filter network could be used - a non-polarized capacitor and a resistor to ground on each speaker so no DC can pass through the coils.

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