The general rule of thumb with solar is 1W of Panel to 1Ah of Battery. so a 200W Solar Array to feed a 220Ah Battery Bank, with a 20A Controller is nigh spot on that 'rule' for most users
Very simple to wire up:
- 2 panels will be wired up either series or parallel. Parallel is same as you have done your two batteries and you buy a MC4 "Y" Connector to make the parallel connections; Series is +ve on Panel A to -ve on Panel B.
Whichever way you do it, you end up with two loose cables - one +ve and one -ve - that go into the van and connect to the Controller "PV" connection. You will almost certianly need extension cables - you can get off the shelf ones with MC4 connectors one end (for the panels) and bare the other (for the controller).
The Controller will have a "Batt" connection - you connect that to the battery - +ve to +ve, -ve to -ve - and job is done.
NOTE: some controllers require the connections to be made in a certain order. You usually should connect the battery to the controller before the solar panels to it.
The Controller may also have a "LOAD" Connection. Generally just ignore that.
Don't expect 200W from the Solar except for very brief times - in the summer months at high noon on a cloudless day that isn't too hot.
If you can achieve 500-800Wh of charging a day in the UK summer (depends on cloud and rain) that is pretty ok (a 110Ah Lead Acid Battery at 50% charge will have provided around 700Wh of energy so don't expect to recharge your 220Ah battery bank from 50% to full just from Solar in a day).
Couple of additional comments:
1) Get an MPPT Controller and wire the panels in Series for the optimum results
2) A PWM Controller will still work, albeit less efficiently and if you do go PWM, you must wire the panels in Parallel otherwise you will waste a lot of potential solar harvesting