Charlemagne was notable for trying to become literate in a time where that was the exception for European nobility while Henry VIII had a broad humanist education. I would like to know at what point such an education became the norm amongst nobles and if there was a difference between monarchs, high nobility (dukes, counts) and low nobility (knights).
Well what I can tell you about royal educations is entirely limited to the 19th century. Specifically with Prince Albert, consort to Queen Victoria of England. In the turbulent age of revolutions in the mid-19th century, Prince albert feaed for the future of monarchy in Europe. As a result, he became a firm believer that in order to justify their positions of power in their respective countries the royalty and nobility of Europe had to be persons of the highest intellectual and moral caliber, in order to serve as an example to the people they ruled over.
Because of this belief Albert took a personal role in the overseeing if his childrens educations. His eldest child, Victoria the Princess Royal (future mother of Kaiser Wilhelm II) took to her education like a duck to water, excelling and adoring every subject she learned. Her brother, the future King Edward VII was the complete opposite: chafed under his fathers demands and expectations and although was reportedly very bright and a quick learner (by the time he was 6 he spoke 3 languages), this was only the case when he wanted to do so, simply put:
His misery in his fathers classroom had turned him off books, education, and culture; he felt he didnt need them.
This belief was reflected in the education of his children, as he felt that a career in the Royal Navy was the only real education a boy needed, which was exactly the education Edward VIIs son the future George V got, when he was twelve years old he went aboard the HMS Britannia , which was a sort of public school for Naval Cadets anchored off the Devon coast (in lay-mans terms, it was Hogwarts except you weren't a wizard you were a sailor, and it wasn't a magical castle it was a war ship.) Two years later, when he was 14 George went on a 3 year world cruise on a naval training ship, making him then the best travelled Prince ever. When he was 21 he joined the Navy proper and for 10 years served and made his way to the rank of Captain on his merits (despite never actually enjoying it, he was always seasick, disliked ships, and developed an outstanding hatred of going abroad). That being said in all other areas his education was totally lacking, biographers have gone through his journals (which he only kept because he felt it was his royal duty to do so) which were not only dull as dirt but full of basic spelling and grammatical errors, unlike his father or his Russian and German cousins he never learned any languages. To give him his fair credit though he was not a bad ruler, he recognized that as the Monarch of the worlds largest empire he had a special role to play as a focal unifying factor of the British empire.
This is my knowledge of the educations received by the British Royal family in the 19th century, I hope it served to answer some of your questions.
Source: George, Nicholas and Wilhelm: Three Royal Cousins and the Road to World War I by Miranda Carter