Power steering whining noise

My car started making a constant whining noise and will grind and tug when I turn. I've added power steering fluid regularly as needed and it helped for a while however now it isn't helping. The fluid turns black and gets foamy. Also my coolant reservoir was randomly empty except for water. I filled that as well and mycar keeps dumping some kind of fluid on that side and it will smoke when you first start to drive it.