知道，it's a common words, To show that you what people know talk to you
For instance:A: tomorrow you should come here more earlier, and don't be late again
B: okay got it好， 知道了/明白了
知晓 usually used in written language.
晓得we always use it in spoken language, actually, it's more like colloquial words in dialect. According to what i know, it's come from Sichuan.
A: 你个瓜娃子，晓不晓得上课不能玩儿手机!don't play your phone when you are learning or in your class
OK，I know that
Sorry if i didn't make my answer clear, Cuz you know my English is not good enough.