All these protocols enable basically the same sort of thing, calling into remote some application over the web. However the details of how they do this differ, they are not just different names for the same protocol.
SOAP supports document-level transfer, whereas xml-rpc is more about values transfer, although it can transfer structures such as structs, lists, etc.
XML-RPC goes over http/https only, where as SOAP goes over ftp, smtp, http, https...etc
XML-RPC doesn't support named parameters, it depends on the position of the parameters where as SOAP supports named parameters and position of the parameters doesn't matter!
example XML-RPC
Example SOAP: