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It's not that they change actors that often, actually. It really depends on the series and what goes on behind the scenes. Sometimes an actor leaves because they have other projects, other times there are money issues - maybe they ask for too much after the first season's success - or the character just dies in the plot. Then there are rare cases where an actor has legal or personal problems and the production decides to replace them, but usually people notice right away and the online community talks about it for weeks.
It also happens that an actor becomes famous after the first season and their salary demands skyrocket, making it impossible for the production to keep them within budget. Or the opposite - a series doesn't have enough money and has to cut characters to save costs.
One thing nobody often mentions is the simple fact that actors die or get seriously ill, and the series has to go on. It's happened to various productions that they had to replace a main character for health reasons, which creates awkward situations where they either introduce a new actor in the same role or write the character out of the story.
But it's also true what the others say - often it's a matter of money and availability. If an actor becomes a star after the first season, their fees skyrocket and maybe they decide to do movies instead. The production then has to choose: pay double, triple, or find someone else. Unfortunately it's business, not art.
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