Embedded spilled oil recovery machine is one of the important mechanical equipment of oil spill emergency response，and the speed synchronization of sweep arm end (float) and oil fence reel is the key technology of that. By taking the control system of line speed synchronization of float and oil fence reel of embedded spilled oil recovery machine as a study object, the joint synchronization control scheme which adopted PID and equal control manner is put forward in order to realize the speed coordination control of dual motor driven by double HST with the programmable logical controller (PLC) as the core of controller. The scheme of hardware design for the speed synchronization control system was given, and the software of the key technologies of system were designed and run. The system speed was simulated and analyzed by using Matlab simulation software, and the evaluation methods of the linear velocity errors were also put forward. The study results in this stage provide a reference for design work of the followup and similar technologies.