An external drive can improve the coherence of a quantum many-body system by averaging out noise sources. It can also be used to realize models that are inaccessible in the static limit, through Floquet Hamiltonian engineering. The full possibilities for combining these tools remain unexplored. We develop the requirements needed for a pulse sequence to decouple a quantum many-body system from an external field without altering the intended dynamics. Demonstrating this technique experimentally in an iontrap platform, we show that it can provide a large improvement to coherence in real-world applications. Finally, we engineer an approximate quantum simulation of the Haldane-Shastry model, an exactly solvable paradigm for long-range interacting spins. Our results expand and unify the quantum simulation toolbox.