There are three types of Tenses in English:

* Simple Tenses
* Progressive Tenses
* And Perfect Tenses

Each type has a structure for conjugation and is given an auxiliary to perform it. Since there are only three auxiliaries and to be fair we give an auxiliary to each category. Therefore, Do is used with simple tenses, Be with progressives, and Have with Perfect Tenses.
The time is divided into three parts: The Past, the Present, and the Future, so each type of tenses has three parts.

SOURCE :

http://www.english.errachidia.org/ideaabout_tenses.htm

tenses chart