cvc-elt.1: Cannot find the declaration of element 'beans'

Your default namespace is http://www.springframework.org/schema/security and you configured xmlns:beans="http://www.springframework.org/schema/beans"this means you have to add the prefix beans: to all the tag form http://www.springframework.org/schema/beans so your XML should be as follows.

<?xml version="1.0" encoding="UTF-8"?>
<beans:beans xmlns="http://www.springframework.org/schema/security"
       xmlns:beans="http://www.springframework.org/schema/beans" xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance"
       xsi:schemaLocation="http://www.springframework.org/schema/beans
       http://www.springframework.org/schema/beans/spring-beans.xsd
       http://www.springframework.org/schema/security
       http://www.springframework.org/schema/security/spring-security-3.2.xsd
       http://www.springframework.org/schema/context
       http://www.springframework.org/schema/context/spring-context.xsd"
       xmlns:context="http://www.springframework.org/schema/context">
    <context:component-scan base-package="com.humandevice.drive.fx">
        <context:include-filter type="regex"
                                expression="com.humandevice.drive.fx.*" />
    </context:component-scan>
    <beans:bean id="LoginController" alias="loginController" class="controller.LoginController">
        <beans:property name="authenticationManager" ref="authenticationManager" />
        <beans:property name="applicationContext" ref="applicationContext" />
    </beans:bean>
    <beans:bean id="applicationContext" alias="applicationContext"
          class="org.springframework.context.ApplicationContext;">
    </beans:bean>
    <authentication-manager alias="authenticationManager">
        <authentication-provider user-service-ref="userService">
            <password-encoder ref="bCryptPasswordEncoder" />
        </authentication-provider>
    </authentication-manager>
</beans:beans>

This code will help you.

<?xml version="1.0" encoding="UTF-8"?>
<beans xmlns="http://www.springframework.org/schema/beans" 
xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance" 
xmlns:context="http://www.springframework.org/schema/context" 
xmlns:aop="http://www.springframework.org/schema/aop" 
xsi:schemaLocation="
http://www.springframework.org/schema/beans 
classpath:/org/springframework/beans/factory/xml/spring-beans-3.0.xsd 
http://www.springframework.org/schema/context 
classpath:/org/springframework/context/config/spring-context-3.0.xsd
http://www.springframework.org/schema/aop 
classpath:/org/springframework/aop/config/spring-aop-3.0.xsd
">      
</beans>

For me I just did cut and paste and save of XML files in same place and it worked for me !!