For Ubuntu and Debian, usbcore is compiled in the kernel, so create entries on /etc/modprobe.d will NOT work: we need to change the kernel boot parameters.
Edit the /etc/default/grub file and change the GRUB_CMDLINE_LINUX_DEFAULT line to add the usbcore.autosuspend=-1 option:
GRUB_CMDLINE_LINUX_DEFAULT="quiet splash usbcore.autosuspend=-1"
Note that quit splash were already present options. So keep other options you have too.
After save the file, update grub:
sudo update-grub
And reboot.
Now check autosuspend value:
cat /sys/module/usbcore/parameters/autosuspend
And it should display -1.
In the kernel documentation is stated that someday in the future this param will change to autosuspend_delay_ms (instead of autosuspend).