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UPDATE:
It helps if you look at which time phrases you can use with each form (left side of the chart). For example:
The race started at 10am. [the simple past]If it is now 12pm, you can't say:
The race has started now. [has is present tense, so it is about the past of the present (i.e., a time before now)]
The race had started at 11am. [had is past tense, so it is about the past of the past (i.e., a time before 11am)]
WRONG: The race has started at 10am. [has is present tense, but 10am is in the past, so it doesn't make sense]If you want to attach a time phrase to start instead of have, use the simple past form.