1 Introduction
High voltage direct current (HVDC) transmission has many advantages and has become an attractive alternative to high voltage alternate current (HVAC) transmission. The increasing use of renewable energy sources also needs DC transmission to interconnect power networks. However, the design of HVDC systems with the same reliability as HVAC systems remains a challenge. One of the main concerns for HVDC is that there is charge accumulation in insulators or on insulators, which will cause electric field distortion, accelerate insulation degradation, and even lead to insulation breakdown or flashover [1]–[3].