I've never put a floorboard back in, but I have had to replace the sheet metal after I cut an access hole into a lot of equipment.
This is one of the best ways I have done it.
Most of the time with my stuff, its just flat panels, so you might have to get a little creative.
Take a piece of flat steel, say 1.5 to 2 inches wide, maybe 1/2 inch thick.
NOTE: All the measurements are just off the top of my head. Adjust them to fit your reality.
Drill a series of 3/8 holes along one side of the hole. Slide the flat steel under the edge about halfway, and mark the holes on it.
Pull it out, drill and tap the holes.
The tapping is the key part. This lets you tighten the bolts from the top if they work loose, and makes removal easy.
Mount the pieces of the flat steel all the way around the hole.
Drill holes in the piece you are putting back on, place it on top, and mark, drill and tap the holes in the flat steel.
Make sure to get it positioned right, then mark a couple of the holes. Drill and tap them, then bolt the piece down before marking the rest of the holes.
Otherwise, it will shift as you mark some, and they will not line up.
Trust me, I know that will happen......
When you are done, you will have a setup that will not rattle unless it works loose, and can be easily tightened if it does.
DON'T try tightening it as you drive down the road to eliminate a rattle.
It will cause you more work after you run off the road.......
The flat steel underneath will seal the gap from dust and mud coming through, but a small amount of silicone rubber will make sure if you put some between the steel and the housing before the final assembly.
Its a lot more work than welding, but it lets you remove all the bracing if necessary later.
For most work, just taking the bolts out that hold the cover will be enough, but if you need more room, then the flat steel will unbolt also.
If you carefully space the bolts the exact same distance apart, it will look like a neat job and can actually look good.
If you don't like the "steampunk" look, then you can use countersunk Allen head screws.
You just have to countersink the holes in the flat steel slightly before you tap it.