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In this paper, we use a newly compiled sample of ultra-compact structure in radio quasars and strong gravitational lensing systems with quasars acting as background sources to constrain six spatially flat and non-flat cosmological models ($Λ$CDM, PEDE and DGP). These two sets of quasar data (the time-delay measurements of six strong lensing systems and 120 intermediate-luminosity quasars calibrated as standard rulers) could break the degeneracy between cosmological parameters ($H_0$, $Ω_m$ and $Ω_k$) and therefore provide more stringent cosmological constraints for the six cosmological models we study. A joint analysis of the quasar sample provides model-independent estimations of the Hubble constant $H_0$, which is strongly consistent with that derived from the local distance ladder by SH0ES collaboration in the $Λ$CDM and PEDE model. However, in the framework of a DGP cosmology (especially for the flat universe), the measured Hubble constant is in good agreement with that derived from the the recent Planck 2018 results. In addition, our results show that zero spatial curvature is supported by the current lensed and unlensed quasar observations and there is no significant deviation from a flat universe. For most of cosmological model we study (the flat $Λ$CDM, non-flat $Λ$CDM, flat PEDE, and non-flat PEDE models), the derived matter density parameter is completely consistent with $Ω_m\sim 0.30$ in all the data sets, as expected by the latest cosmological observations. Finally, according to the the statistical criteria DIC, although the joint constraints provide substantial observational support to the flat PEDE model, they do not rule out dark energy being a cosmological constant and non-flat spatial hypersurfaces.