When two waves meet at a point, the resultant displacement is the sum of the displacements of each wave. This is the principle of superposition. Waves of the same frequency give interference: they add where they arrive in phase and cancel where they arrive out of phase. Waves of slightly different frequencies give beats, a regular rise and fall of loudness.
A wave reflected from a denser medium (a fixed end) is turned over, a phase change of 180°. Reflected from a rarer medium (a free or open end), it is not.
The Doppler effect is the apparent change in frequency when the source and the observer move relative to each other. Moving closer raises the pitch. Moving apart lowers it.