The Industrial Revelations series (2 of them), presented by ex-Fast Show comedian Mark Williams - who, it turns out, is an absolute machinery nut - were brilliant. Still a bit short on detail, but what can you expect from a TV show? If you want the real down & dirty, you need to find a book on the subject....
Anyway, I'd highly recommend Industrial Revelations, the Mark Williams episodes at least (they've made some with another presenter who is nowhere near as enthusiastic), for a bit of a romp through the Industrial Revolution.