I know the usage of present perfect tense is to say that the action is done at this moment or to say that the results of a past action is still existing at this moment, But how we can apply these rules when we are using the word "Never" in a sentence, for example, "I never have done this". I think that I have not understood the usage of negative present perfect, which is confused me.
The easiest way to think of the uses of Present Perfect tense that you have enumerated and the case about which you are asking, is that they are about now, about the present.
Whether it's some act the result of which is now brought to the attention, or some action that continues from some unknown/unimportant point in the past up until now, or whether it's the absence of something now due to inactivity in the past, the now is what connects them all.
If that way of dealing with it doesn't appeal to you, you can try putting the opposite to work. What would you consider the opposite statement of
I never have done this.
? It would likely be
I have done this.
, right? It doesn't matter when you did it (if you only did it once), or how many times you did it, what matters is that you possess the knowledge or experience now and for that you use the present perfect tense. So, if you don't possess the experience, there is not much to change. Just add a "never"...
When you use the present perfect with never, it means "not ever/at any time in your life up to now".
I have never done it.
On the contrary, if you use the never in the past, it means that you didn't ever do it in the past; maybe you do it now. However, I don't think it's at all incorrect to use the past simple. Many people do so in informal conversation. Look at the following sentence:
I never knew you played the guitar. The sentence in informal English means that you didn't know until now you played the guitar (Longman).