I. Introduction
In recent years, continuous development in fields such as materials science [1], power electronics [2], and manufacturing technology [3] have significantly improved high-voltage direct current (HVDC) transmission technology. HVDC transmission systems have many advantages, including good stability, low energy loss, small interference to the power grid, and low transmission-line investment and maintenance cost. For these reasons they continue to play an increasingly important role in the transmission systems around the world.