When ours where young we took them to Dearborn, MI to Greenfield Village, it is about a 5 hour drive if I remember right.
Here is a link to their site: http://www.hfmgv.org/
We are going next month because our youngest (who will be 27 next month) is coming in on leave from the Air Force and wanted to there again because he remembered it from when we visted. They have an outside village comprised of many historic homes (Websters, Tom Edison's Factory, etc.) a train, farm and much more. They also have a museum with many interesting items from history to now.
We usually stay at the Embassy Suites near by as this used to give the give thier "own" room and the price includes breakfast.