Was there ever a monetary system which had a set exchange for pieces of copper, silver and gold. e.g. 5 copper to a silver, 10 silver to a gold.
I was looking through some old posts and saw this one, looks like you never got an answer. I am actually an ancient coin collector myself so I can say that you're in luck, I know of at least one monetary system similar to the one you're discussing: the Roman monetary system. Throughout the history of Rome there were many types of currency, but a few quick examples that you would see during the empire were the bronze "as", the silver, then later brass and eventually just bronze "sestertius", the silver "denarius" and the gold "aureus".
Originally, a denarius was valued at 10 asses or 4 sestertii(making them worth 2.5 asses). This was later retariffed and a denarius was worth sixteen asses, but still just 4 sestertii. The golden aureus however was the highest denomination and after this retariff worth 25 denarii, 100 sestertii or 400 asses.
There are all kinds of interesting topics when you research the Roman monetary system and how they debased various coins over time as well as how the imagery on their coins was virtually always some kind of propaganda. Check out the following links for a bit more information:
https://en.wikipedia.org/wiki/Sestertius
https://en.wikipedia.org/wiki/As_(Roman_coin)
https://en.wikipedia.org/wiki/Denarius
https://en.wikipedia.org/wiki/Aureus
There are also occasionally some interesting discussions about various topics related to currency over at /r/AncientCoins and people are always posting all kinds of beautiful ancients if you're into that kind of thing.