Cook pasta according to package directions, adding zucchini druing the last 2 minutes of cooking. Drain; keep warm.
Meanwhile, for sauce, in a large skillet cook beef and eggplant over medium heat until meat is brown; drain off fat. Stir in undrained tomatoes, tomato paste, carrot, basil, raisins (if desired), and cinnamon. Bring to boiling; reduce heat. Simmer, uncovered, about 2 minutes, or to desired consistency, stirring occasionally. Remove from heat. If desired, stir in vinegar.
Transfer pasta mixture to a serving dish. Spoon sauce over pasta mixture. Sprinkle with cheese. Makes 4 to 6 servings.