Best way to submit a Grayscale image for commercial print (litho or digital)

I've always had trouble getting a Grayscale image to print as grayscale!

Sometimes on an RGB (non-postscript) printer it prints 'brownish'.  Because the print machine is beside me, I can tinker and print till I get it right.

BUT...

Sometimes when I send a Grayscale image off as CMYK or as Grayscale (whichever they ask for) to a commercial printer, the print is much darker than I had intended.  And sometimes it's fine!

Is there a formula for getting it right every time?

Seamus

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